A three-dimensional printing method, device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a three-dimensional printing method, device, electronic equipment and storage medium. The cloud server performs layering processing on a three-dimensional model of a to-be-printed object according to a material identifier of the to-be-printed object to obtain a plurality of layered geometric contour information; determines material parameters corresponding to the material identifier; determines processing information corresponding to the layers based on a multi-objective optimization model, the material parameters, and the layered geometric contour information; processes the processing information and the material parameters based on a path planning cost function to obtain joint space instructions and laser parameters; determines a processing task according to the joint space instructions and the laser parameters; the processing task includes five-axis linkage control parameters corresponding to a terminal device; and sends the processing task corresponding to the plurality of layers to an edge node, so that the edge node controls the terminal device to perform three-dimensional printing processing on the to-be-printed object according to the five-axis linkage control parameters in the processing task for any layer. The printing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of laser printing technology, and more particularly to a three-dimensional printing method, apparatus, electronic device, and storage medium. Background Technology

[0002] In the field of laser printing (3D laser printing), users are demanding increasingly higher printing speeds.

[0003] In related technologies, edge nodes typically rely on the user's printing needs to generate control information for the terminal device (printing device), and then control the terminal device to print the object to be printed based on the control information.

[0004] However, in related technologies, the method of relying on edge nodes to generate control information corresponding to the terminal device based on the user's printing needs has the problem of low efficiency in generating control information, which in turn leads to low printing efficiency in related technologies. Summary of the Invention

[0005] This application provides a 3D printing method, apparatus, electronic device, and storage medium that can improve printing efficiency.

[0006] In a first aspect, embodiments of this application provide a 3D printing method applied to a cloud server, the method comprising:

[0007] Based on the material identifier of the object to be printed, the 3D model of the object to be printed is processed into layers to obtain multiple layers of geometric contour information.

[0008] Determine the material parameters corresponding to the material identifier;

[0009] Based on a multi-objective optimization model, the processing information corresponding to each layer is determined according to material parameters and the geometric contour information of the layers.

[0010] Based on the path planning cost function, the processing information and material parameters are processed to obtain joint space commands and laser parameters;

[0011] The machining task is determined based on the joint space command and laser parameters; the machining task includes the five-axis linkage control parameters corresponding to the terminal equipment.

[0012] Multiple processing tasks corresponding to different layers are sent to the edge nodes, so that the edge nodes can control the terminal device to perform 3D printing on any object to be printed based on the five-axis linkage control parameters in the processing task corresponding to the layer.

[0013] In one implementation, the joint space command includes five-axis joint space information corresponding to each trajectory point; the laser parameters include the laser power corresponding to each trajectory point; and the machining task is determined based on the joint space command and the laser parameters, including:

[0014] Based on the joint space commands, laser parameters, and scanning speed in the processing information, the five-axis linkage control parameters are determined. These parameters include target control parameters corresponding to multiple control cycles and target laser power corresponding to multiple control cycles. The target control parameters include the target position or target angle corresponding to the five axes.

[0015] Secondly, embodiments of this application provide a 3D printing method applied to edge nodes, the method comprising:

[0016] The system acquires multiple layered processing tasks sent by the cloud server. These tasks include the five-axis linkage control parameters corresponding to the terminal device. The processing tasks are determined by the cloud server based on joint space commands and laser parameters. These commands and parameters are obtained by the cloud server processing the processing information and material parameters based on a path planning cost function. The processing information is determined by the cloud server based on a multi-objective optimization model, according to the material parameters and the layered geometric contour information. The layered geometric contour information is obtained by the cloud server performing layered processing on the 3D model of the object to be printed based on the material identifier of the object. The material parameters correspond to the material identifier.

[0017] For any given layer, the terminal device is controlled to perform 3D printing on the object to be printed, based on the five-axis linkage control parameters in the processing task corresponding to that layer.

[0018] In one implementation, based on the five-axis linkage control parameters in the processing task corresponding to each layer, the terminal device is controlled to perform 3D printing processing on the object to be printed, including:

[0019] Based on the priority value of the processing task, determine the bandwidth allocation information for the processing task;

[0020] Based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task, the terminal device is controlled to print the object to be printed.

[0021] In one implementation, based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task, the terminal device is controlled to print the object to be printed, including:

[0022] Based on the bandwidth allocation information of the processing task and the first target control parameter in the five-axis linkage control parameters, the terminal device is controlled to print the object to be printed; the first target control parameter corresponds to the first control cycle;

[0023] Acquire the first actual control parameters sent by the terminal device; the first actual control parameters include the first actual position or the first actual angle corresponding to the five axes;

[0024] Based on the first actual control parameters and the first target control parameters, the second target control parameters in the five-axis linkage control parameters are adjusted to obtain the adjusted second target control parameters; wherein, the second target control parameters correspond to the second control cycle; the second control cycle is the next control cycle after the first control cycle;

[0025] Based on the bandwidth allocation information of the processing task and the adjusted target second control parameters, the terminal device is controlled to print the object to be printed.

[0026] In one implementation, based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task, the terminal device is controlled to print the object to be printed, including:

[0027] Determine if an emergency stop task exists; the priority value of an emergency stop task is the third priority value, and the priority value of a processing task is the second priority value, with the third priority value being greater than the second priority value.

[0028] If an emergency stop task is determined to exist, process the emergency stop task based on the obtained bandwidth allocation information; or...

[0029] If it is determined that there is no emergency stop task, the terminal device is controlled to perform 3D printing processing on the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task.

[0030] Thirdly, embodiments of this application provide a 3D printing apparatus, comprising:

[0031] The processing module is used to perform layered processing on the 3D model of the object to be printed based on the material identifier of the object, and obtain multiple layers of geometric contour information.

[0032] The processing module is also used to determine the material parameters corresponding to the material identifier;

[0033] The processing module is also used to determine the processing information corresponding to each layer based on the material parameters and the geometric contour information of the layers, according to the multi-objective optimization model.

[0034] The processing module is also used to process the machining information and material parameters based on the path planning cost function to obtain joint space commands and laser parameters;

[0035] The processing module is also used to determine the processing task based on the joint space command and laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal equipment.

[0036] The transceiver module is used to send multiple processing tasks corresponding to different layers to the edge nodes, so that the edge nodes can control the terminal device to perform 3D printing on the object to be printed based on the five-axis linkage control parameters in the processing task corresponding to the layer.

[0037] In one implementation, the joint space command includes five-axis joint space information corresponding to each trajectory point; the laser parameters include the laser power corresponding to each trajectory point; and the processing module is specifically used for:

[0038] Based on the joint space commands, laser parameters, and scanning speed in the processing information, the five-axis linkage control parameters are determined. These parameters include target control parameters corresponding to multiple control cycles and target laser power corresponding to multiple control cycles. The target control parameters include the target position or target angle corresponding to the five axes.

[0039] Fourthly, embodiments of this application provide a three-dimensional printing apparatus, comprising:

[0040] The acquisition module is used to acquire multiple processing tasks corresponding to different layers sent by the cloud server. These processing tasks include the five-axis linkage control parameters corresponding to the terminal device. The processing tasks are determined by the cloud server based on joint space commands and laser parameters. These commands and parameters are obtained by the cloud server processing the processing information and material parameters based on a path planning cost function. The processing information is determined by the cloud server based on a multi-objective optimization model, according to the material parameters and the geometric contour information of each layer. The geometric contour information of each layer is obtained by the cloud server performing layered processing on the 3D model of the object to be printed based on the material identifier of the object. The material parameters correspond to the material identifier.

[0041] The control module is used to control the terminal device to perform 3D printing on the object to be printed, based on the five-axis linkage control parameters in the processing task corresponding to the layer.

[0042] In one implementation, the control module is specifically used for:

[0043] Based on the priority value of the processing task, determine the bandwidth allocation information for the processing task;

[0044] Based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task, the terminal device is controlled to print the object to be printed.

[0045] In one implementation, the control module is specifically used for:

[0046] Based on the bandwidth allocation information of the processing task and the first target control parameter in the five-axis linkage control parameters, the terminal device is controlled to print the object to be printed; the first target control parameter corresponds to the first control cycle;

[0047] Acquire the first actual control parameters sent by the terminal device; the first actual control parameters include the first actual position or the first actual angle corresponding to the five axes;

[0048] Based on the first actual control parameters and the first target control parameters, the second target control parameters in the five-axis linkage control parameters are adjusted to obtain the adjusted second target control parameters; wherein, the second target control parameters correspond to the second control cycle; the second control cycle is the next control cycle after the first control cycle;

[0049] Based on the bandwidth allocation information of the processing task and the adjusted target second control parameters, the terminal device is controlled to print the object to be printed.

[0050] In one implementation, the control module is specifically used for:

[0051] Determine if an emergency stop task exists; the priority value of an emergency stop task is the third priority value, and the priority value of a processing task is the second priority value, with the third priority value being greater than the second priority value.

[0052] If an emergency stop task is determined to exist, process the emergency stop task based on the obtained bandwidth allocation information; or...

[0053] If it is determined that there is no emergency stop task, the terminal device is controlled to perform 3D printing processing on the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task.

[0054] Fifthly, embodiments of this application provide an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0055] The memory stores the instructions that the computer executes;

[0056] The processor executes computer-executable instructions stored in memory to implement the method as described in the first or second aspect.

[0057] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods of the first or second aspect.

[0058] In a seventh aspect, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, is used to implement the method of the first aspect or the second aspect.

[0059] When the computer program in the computer program product provided in this application is executed by a processor, it can implement the technical solution shown in the above method embodiments. The implementation principle and beneficial effects are similar, and will not be repeated here.

[0060] This application provides a 3D printing method, apparatus, electronic device, and storage medium. In this method, a cloud server can perform layered processing on the 3D model of the object to be printed based on its material identifier, obtaining geometric contour information for multiple layers; and determine the material parameters corresponding to the material identifier. The cloud server can determine the processing information corresponding to each layer based on a multi-objective optimization model, according to the material parameters and the geometric contour information of each layer. The cloud server can process the processing information and material parameters based on a path planning cost function to obtain joint space commands and laser parameters. The cloud server can determine the processing task based on the joint space commands and laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal device. The cloud server can send multiple processing tasks corresponding to each layer to edge nodes, allowing the edge nodes to control the terminal device to perform 3D printing processing on any layer based on the five-axis linkage control parameters in the processing task. By transferring the calculated processing tasks corresponding to each layer to a cloud server with higher processing capabilities, the speed of acquiring processing tasks can be improved, thereby increasing the efficiency of the edge nodes in controlling the terminal device to print the object based on the five-axis linkage control parameters in the processing task. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0062] Figure 1 A schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0063] Figure 2 A flowchart illustrating a three-dimensional printing method according to an embodiment of this application;

[0064] Figure 3 A flowchart illustrating a second embodiment of a 3D printing method provided in this application;

[0065] Figure 4 This is a schematic diagram of the structure of a 3D printing device provided in an embodiment of this application;

[0066] Figure 5 This is a schematic diagram of another three-dimensional printing apparatus provided in an embodiment of this application;

[0067] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0068] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0069] 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 numbers 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 application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0070] In the field of laser printing (3D laser printing), users are demanding increasingly higher printing speeds.

[0071] In related technologies, edge nodes typically rely on the user's printing needs to generate control information for the terminal device (printing device), and then control the terminal device to print the object to be printed based on the control information.

[0072] However, in related technologies, the method of relying on edge nodes to generate control information corresponding to the terminal device based on the user's printing needs has the problem of low efficiency in generating control information, which in turn leads to low printing efficiency in related technologies.

[0073] Based on this, this application provides a 3D printing method. A cloud server can perform layered processing on the 3D model of the object to be printed based on its material identifier, obtaining multiple layers of geometric contour information. The cloud server can determine the material parameters corresponding to the material identifier. Based on a multi-objective optimization model, the cloud server can determine the processing information corresponding to each layer based on the material parameters and the layered geometric contour information. The cloud server can process the processing information and material parameters based on a path planning cost function to obtain joint space commands and laser parameters. The cloud server can determine the processing task based on the joint space commands and laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal device. The cloud server can send multiple processing tasks corresponding to each layer to the edge nodes, allowing the edge nodes to control the terminal device to perform 3D printing on any layer based on the five-axis linkage control parameters in the layer-specific processing task.

[0074] By transferring the calculated processing tasks corresponding to each layer to a cloud server with higher processing capabilities, the speed of acquiring processing tasks can be improved. This, in turn, increases the efficiency of edge nodes in controlling terminal devices to print objects based on the five-axis linkage control parameters in the processing tasks.

[0075] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. Please refer to [link / reference]. Figure 1 As shown, the specific application scenarios of this application include a cloud server 10, an edge node 20, and a terminal device 30. For example, the edge node can be an RK3506 node.

[0076] In this embodiment, edge node 20 is communicatively connected to cloud server 10 and terminal device 30. It should be noted that cloud server 10 can be a single server or a server cluster (such as a server cluster including multiple graphics processors), and this application embodiment does not impose any limitations on this.

[0077] It should be noted that edge node 20 can be connected to terminal device 30 via a wired connection; edge node 20 can also be connected to terminal device 30 via a wireless connection. This embodiment of the application does not impose any limitations on this.

[0078] It should also be noted that the terminal device 30 may include a laser module 301 and a five-axis motion controller 302. Furthermore, the laser module 301 can be directly connected to the five-axis motion controller 302 via an input / output protocol.

[0079] In this scenario:

[0080] The cloud server 10 can perform layered processing on the 3D model of the object to be printed based on the material identifier of the object, and obtain multiple layers of geometric contour information.

[0081] The cloud server 10 determines the material parameters corresponding to the material identifier.

[0082] The cloud server 10 can determine the processing information corresponding to each layer based on a multi-objective optimization model, material parameters, and the geometric contour information of the layers.

[0083] The cloud server 10 can process the processing information and material parameters based on the path planning cost function to obtain joint space commands and laser parameters.

[0084] The cloud server 10 can determine the processing task based on the joint space command and laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal equipment.

[0085] The cloud server 10 can send multiple processing tasks corresponding to different layers to the edge node 20.

[0086] For any layer, the edge node 20 can control the terminal device 30 to perform 3D printing processing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to the layer.

[0087] It should be noted that, Figure 1 This is a schematic diagram of a scenario provided in an embodiment of this application. This embodiment of the application does not necessarily represent... Figure 1 The document does not limit the actual form of the various devices included, nor does it specify the form of the devices. Figure 1 The interaction methods between devices are limited, and can be set according to actual needs when applying the solution.

[0088] The technical solution of this application will now be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0089] Figure 2 This is a schematic flowchart illustrating a 3D printing method according to an embodiment of this application. See also... Figure 2 The method specifically includes the following steps:

[0090] S201: The cloud server performs layered processing on the 3D model of the object to be printed based on the material identifier of the object, and obtains multiple layers of geometric contour information.

[0091] In this embodiment, the cloud server can perform layered processing on the three-dimensional model of the object to be printed based on the material identifier of the object, and obtain multiple layers of geometric contour information.

[0092] For example, the material identifier could be the material name "titanium alloy". Another example is the material identifier could be the material name "hydrogel".

[0093] Additionally, it should be noted that in one implementation, the 3D model of the object to be printed can be in Standard Tessellation Language (STL) format.

[0094] In one implementation:

[0095] The cloud server can receive processing requests. These requests can include the material identifier of the object to be printed and its 3D model.

[0096] The cloud server can determine the layering strategy information based on the material identifier and the 3D model of the object to be printed. This layering strategy information can indicate the height of each layer. In one implementation, the cloud server can use a Visualization Toolkit (VTK) library to perform mesh repair processing on the STL format 3D model, obtaining a processed 3D model. For example, mesh repair processing can include hole repair, removal of isolated fragments, and normal vector correction. The cloud server can then use a pre-trained neural network model (such as a Point Cloud Neural Network++ (PointNet++) model) to analyze the processed 3D model, obtaining the geometric features (such as curvature abrupt change points, sharp edge contours, and surface gradient change regions) from the layering strategy information.

[0097] The cloud server can perform layering processing on the 3D model of the object to be printed based on the layering strategy information, obtaining multiple layers of geometric contour information (also known as sub-3D model information). In one implementation, the cloud server can use an improved Marching Cubes algorithm to perform layering processing on the 3D model of the object to be printed based on the geometric features in the layering strategy information, obtaining multiple layers of geometric contour information.

[0098] Furthermore, during the layering process of the 3D model of the object to be printed, the cloud server can obtain layer height information for multiple layers. Understandably, smaller layer height information (e.g., 0.02mm) can be used in critical areas with high curvature and complex features (such as overhanging surfaces and fine structures); larger layer height information (e.g., 0.1mm) can be used in flat, simple, non-critical areas, improving efficiency while maintaining accuracy. For example, if the object to be printed is a gear and the material is identified as titanium alloy, the layer height information for one layer (belonging to the tooth root region of the object to be printed) is 0.02mm; the layer height information for another layer (belonging to the tooth surface region of the object to be printed) can be 0.05mm.

[0099] S202: The cloud server determines the material parameters corresponding to the material identifier.

[0100] In this embodiment, the cloud server can query the correspondence between the material identifier and the material parameters based on the material identifier, and determine the material parameters corresponding to the material identifier.

[0101] In one implementation, material parameters may include thermal conductivity (λ), melting point (Tm), laser absorptivity (α), and specific heat capacity. For example, the material may be identified as a titanium alloy, with a thermal conductivity of 21 W / (m·K), a melting point of 1668 °C, and a laser absorptivity of 0.3.

[0102] S203: The cloud server uses a multi-objective optimization model to determine the processing information corresponding to each layer based on material parameters and the geometric contour information of the layers.

[0103] In this embodiment, the cloud server can determine the processing information corresponding to each layer based on a multi-objective optimization model (also known as a multi-objective optimization function), according to material parameters and the geometric contour information of the layers.

[0104] In one implementation, the cloud server can determine the processing information corresponding to multiple layers based on multiple multi-objective optimization models, material parameters, and geometric contour information of multiple layers. In other words, the cloud server can use multiple multi-objective optimization models to process the processing information corresponding to multiple layers in parallel, thereby reducing processing latency and improving the efficiency of the cloud server in obtaining the processing information corresponding to multiple layers.

[0105] It should be noted that the processing information includes path type, basic laser power, support density, scanning speed, layer height information, and geometric contour information.

[0106] For example, if the object to be printed is a gear and the material is identified as titanium alloy, the layer height information of one layer (belonging to the root region of the tooth to be printed) is 0.02mm, the scanning speed is 600mm / s, and the basic laser power is 40W; the layer height information of another layer (belonging to the tooth surface region of the tooth to be printed) can be 0.05mm, the scanning speed is 1200mm / s, and the basic laser power is 30W.

[0107] It should be noted that when the path type is contour scanning, a "U"-shaped path strategy from the inside out can be used to reduce the laser head's idle distance, thereby improving contour scanning efficiency. When the path type is internal fill scanning, random, partitioned fill paths can be generated, breaking the regularity of conventional grid paths, effectively dispersing heat input, and reducing the overall heat accumulation and internal stress of the part.

[0108] It should be noted that the cloud server determines multiple different initial processing information (also known as initial processing information sets, including initial path type, initial base laser power, initial support density, initial material parameters, initial scanning speed, initial layer height information, and geometric contour information) based on material parameters and layered geometric contour information. Then, based on a multi-objective optimization model, it determines the final processing information from these multiple initial processing information sets. In other words, the multi-objective optimization model is used to measure the f-value corresponding to different initial processing information sets, thereby determining the final processing information from these multiple initial processing information sets.

[0109] In one implementation:

[0110] A multi-objective optimization model can be:

[0111]

[0112] Where w1, w2, and w3 are weighting coefficients preset according to process requirements, L i E represents the path length of a single layer. i For laser energy consumption, S i The area percentage of the supporting structure.

[0113] It should be noted that the optimization process must satisfy several process constraints, including that the length of a single-layer path is less than or equal to the equipment's maximum length (L). i ≤L max Energy density greater than or equal to the material melting threshold (E) i ≥E max The area of ​​the supporting structure is less than or equal to a preset area threshold (S). i ≤S th ).

[0114] In one implementation, the relationship between material parameters and base laser power (P) is: P = α × λ × f(E), where f(E) is a function related to energy density.

[0115] Additionally, it should be noted that in one implementation, the cloud server may include multiple graphics processing units (GPUs). The cloud server can utilize these GPUs, based on a multi-objective optimization model, to determine the processing information corresponding to each layer, according to material parameters and the geometric contour information of the layers.

[0116] S204: The cloud server processes the machining information and material parameters based on the path planning cost function to obtain joint space commands and laser parameters.

[0117] In this embodiment, the computing device can process the processing information and material parameters based on the path planning cost function to obtain joint space commands and laser parameters.

[0118] The joint space commands include the five-axis joint space information corresponding to each trajectory point; the laser parameters include the laser power corresponding to each trajectory point.

[0119] In one implementation, edge nodes can perform verification processing on the processing information to obtain a verification result. For example, an edge node can determine whether the base laser power in the processing information is within a preset power range. If the edge node determines that the base laser power in the processing information is within the preset power range (e.g., 0-50W), the verification result indicates that the verification has passed. As another example, an edge node can determine whether the layer height information in the processing information is within a preset layer height range (e.g., 0.01-0.2mm). If the edge node determines that the layer height information in the processing information is within the preset layer height range, the verification result indicates that the verification has passed.

[0120] If the verification result indicates that the verification has passed, the edge node can process the processing information and material parameters based on the path planning cost function to obtain the joint space command and laser parameters.

[0121] The following section explains the process by which edge nodes, based on path planning cost functions, process machining information and material parameters to obtain joint space commands and laser parameters.

[0122] In one implementation:

[0123] Edge nodes can process material parameters, path type, basic laser power, support density, layer height information, and geometric contour information based on path planning cost functions to obtain joint space commands and laser parameters.

[0124] Understandably, edge nodes can determine the start and target points based on geometric contour information. Edge nodes can determine multiple candidate paths based on the start and target points, geometric contour information, and path type. For any candidate path, the edge node can process the geometric contour information, path type, basic laser power, support density, material parameters, and layer height information based on a path planning cost function to obtain the cost of the candidate path. The edge node can determine the target path from multiple candidate paths based on their cost values. The edge node can generate joint space commands and laser parameters based on the target path, processing information, and material parameters.

[0125] For example, the path planning cost function can be g(n) = w4×d(n) + w5×c(n) + w6×h(n).

[0126] Wherein, d(n) is the Euclidean distance from a trajectory point to the target point (determined based on support density); c(n) is the path curvature change rate (determined based on geometric contour information, used to suppress sharp turns); h(n) is the predicted value of thermal accumulation (determined based on material parameters, basic laser power, and layer height information); w4, w5, and w6 are weighting coefficients determined based on path type.

[0127] S205: The cloud server determines the processing task based on the joint space instructions and laser parameters.

[0128] In this embodiment, the computing device can determine the machining task based on joint space commands and laser parameters. The machining task includes the five-axis linkage control parameters corresponding to the terminal device.

[0129] In one implementation, the edge node can determine the processing task based on joint space instructions, laser parameters, and the scanning speed in the processing information.

[0130] It should be noted that the joint space command includes the five-axis joint space information corresponding to each trajectory point; the laser parameters include the laser power corresponding to each trajectory point.

[0131] It should be noted that the five axes can include the X-axis, Y-axis, Z-axis, A-axis, and C-axis. Target control parameters include the target position corresponding to the X-axis, the target position corresponding to the Y-axis, the target position corresponding to the Z-axis, the target angle corresponding to the A-axis, and the target angle corresponding to the C-axis.

[0132] S206: Edge nodes obtain multiple processing tasks corresponding to different layers sent by the cloud server.

[0133] In this embodiment, the cloud server can send multiple processing tasks corresponding to different layers to the edge nodes.

[0134] In one implementation, the cloud server can also store multiple processing tasks corresponding to different layers in the blockchain system. Additionally, the cloud server can store the identifiers of edge nodes (such as their names) in the blockchain system. Furthermore, the cloud server can store the processing status of processing requests as "processed" in the blockchain system. Through these methods, the processing tasks, edge node identifiers, and processing status can be stored and verified on the blockchain.

[0135] Accordingly, edge nodes can obtain multiple processing tasks corresponding to different layers sent by the cloud server. It should also be noted that a processing task can include multiple rows of data (e.g., 2000 rows). In the event of a network outage between the edge node and the cloud server, the edge node can cache N rows of data (e.g., 1000 rows) and, upon detecting a network connection between the edge node and the cloud server, continue receiving data from the cloud server based on the cached N rows.

[0136] The following section explains the process by which the cloud server pre-determines edge nodes from multiple candidate edge nodes.

[0137] In one implementation:

[0138] The cloud server can obtain load information from multiple candidate edge nodes. In one implementation, the load information may include the utilization rate of the graphics processor in the cloud server.

[0139] The cloud server can determine the edge node from multiple candidate edge nodes based on their load information. In one implementation, the cloud server can determine the edge node with the lowest load information from among the multiple candidate edge nodes.

[0140] By using the above method, load balancing of multiple candidate edge nodes is achieved, which improves the load balancing rate, increases the efficiency of edge nodes in obtaining processing tasks based on processing instructions, and thus improves the efficiency of edge nodes in controlling terminal devices to print objects to be printed.

[0141] S207: For any layer, the edge node controls the terminal device to perform 3D printing processing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to the layer.

[0142] In this embodiment, for any layer, the edge node can control the terminal device to perform 3D printing processing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to the layer.

[0143] The five-axis linkage control parameters include target control parameters and target laser power corresponding to multiple control cycles; the target control parameters include target position or target angle corresponding to the five axes.

[0144] In one implementation:

[0145] Edge nodes can determine the bandwidth allocation information for processing tasks based on the priority value of the processing tasks.

[0146] Edge nodes can control the terminal device to print the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task.

[0147] In one implementation, the edge node can be an Asymmetric Multiprocessing (AMP) architecture. That is, the edge node can include multiple cores. For example, an edge node can include a first core, a second core, and a third core. For any layer, the edge node can receive processing tasks through the first core (such as an A7 core). The edge node can determine the bandwidth allocation information for the processing tasks based on their priority values ​​using the first core. The edge node can obtain the processing tasks and their bandwidth allocation information sent by the first core through the second core. The edge node can then control the terminal device to print the object to be printed using the second core, based on the bandwidth allocation information and the five-axis linkage control parameters within the processing tasks.

[0148] The beneficial effects of this embodiment are as follows: The cloud server can perform layered processing on the 3D model of the object to be printed based on the material identifier, obtaining multiple layers of geometric contour information. The cloud server can determine the material parameters corresponding to the material identifier. Based on a multi-objective optimization model, the cloud server can determine the processing information corresponding to each layer according to the material parameters and the layered geometric contour information. The cloud server can process the processing information and material parameters based on a path planning cost function to obtain joint space commands and laser parameters. The cloud server can determine the processing task based on the joint space commands and laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal device. The cloud server can send multiple processing tasks corresponding to each layer to the edge nodes, so that the edge nodes can control the terminal device to perform 3D printing processing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to each layer. By transferring the calculated processing tasks corresponding to each layer to the cloud server with higher processing capabilities, the speed of obtaining processing tasks can be improved, thereby improving the efficiency of the edge nodes in controlling the terminal device to print the object to be printed based on the five-axis linkage control parameters in the processing task.

[0149] The following will use method embodiment two to explain the process in embodiment one where "edge nodes control the terminal device to perform three-dimensional printing processing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to the layer".

[0150] Figure 3 This is a schematic flowchart illustrating a second embodiment of a 3D printing method provided in this application. See also... Figure 3 The method specifically includes the following steps:

[0151] S301: The edge node determines the bandwidth allocation information for the processing task based on the priority value of the processing task.

[0152] In this embodiment, the edge node can obtain the priority value of the processing task. In one implementation, when a task is a processing task, its priority value is the second priority value (e.g., 5); when a task is an emergency stop task, its priority value is the third priority value (e.g., 10); and when a task is a logging task, its priority value is the first priority value (e.g., 0). It should be noted that the third priority value is greater than the second priority value, and the second priority value is greater than the first priority value. Additionally, the edge node can add the processing task to the Remote Processor Messaging (RPMSG) queue.

[0153] Edge nodes can determine the bandwidth allocation information for processing tasks based on the priority value of the processing tasks.

[0154] In one implementation:

[0155] Edge nodes can store the correspondence between priority values ​​and bandwidth allocation ratios. For example, a priority value of the third priority corresponds to a bandwidth allocation ratio of 70%; a priority value of the second priority corresponds to a bandwidth allocation ratio of 25%; and a priority value of the first priority corresponds to a bandwidth allocation ratio of 5%.

[0156] Edge nodes can determine the bandwidth allocation ratio by querying the correspondence between the priority value of the processing task and the bandwidth allocation ratio.

[0157] Edge nodes can determine the amount of bandwidth in the bandwidth allocation information based on the bandwidth allocation ratio and the total amount of bandwidth obtained.

[0158] S302: The edge node controls the terminal device to perform 3D printing processing on the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task.

[0159] In this embodiment, the edge node can control the terminal device to perform 3D printing processing on the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task.

[0160] In one implementation:

[0161] Edge nodes can send processing tasks to terminal devices based on the bandwidth allocation information in the processing task's bandwidth allocation information.

[0162] In one implementation, the edge node can send the processing tasks in the remote processor message queue to the terminal device based on the bandwidth allocation information of the processing tasks.

[0163] Alternatively, in one implementation:

[0164] Edge nodes can determine whether an emergency stop task exists. In one implementation, the edge node can determine whether an emergency stop task exists in the remote processor's message queue. The emergency stop task has a priority value of the third priority, and the processing task has a priority value of the second priority, with the third priority value being greater than the second priority value.

[0165] Edge nodes can process emergency stop tasks based on the acquired bandwidth allocation information, upon determining their existence. It should be noted that the bandwidth allocation information includes the amount of bandwidth required for the emergency stop task. In one implementation, the edge node can also pause log processing and processing tasks upon detecting an emergency stop task. Furthermore, the edge node can process emergency stop tasks using a second core (such as the M0 core) based on the acquired bandwidth allocation information. In another implementation, the edge node can generate an emergency stop task upon receiving an emergency stop instruction from the terminal device. In one implementation, the terminal device can send an emergency stop instruction to the edge node if it detects that the current signal of the laser module (the laser diode in the laser module) exceeds a current signal threshold. The edge node can process the emergency stop task by sending it to the terminal device. Understandably, the terminal device can stop operation in response to the emergency stop task.

[0166] or,

[0167] Edge nodes, when determined that no emergency stop tasks exist, can control the terminal device to perform 3D printing on the object to be printed, based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters within the processing task. In other words, edge nodes can process processing tasks (send processing tasks to the terminal device) based on the bandwidth allocation information, even when no emergency stop tasks are detected. Additionally, edge nodes can process log tasks based on the bandwidth allocation information corresponding to the log tasks, even when a log task exists in the remote processor's message queue. It should be noted that edge nodes can include a first core, a second core, and a third core (such as a Linux core). Edge nodes can process log tasks through the third core, based on the bandwidth allocation information corresponding to the log tasks.

[0168] This method can increase the preemption rate of emergency stop tasks.

[0169] When the edge node sends a processing task to the terminal device, the terminal device can perform 3D printing on the object to be printed based on the five-axis linkage control parameters in the processing task.

[0170] In one implementation:

[0171] Within the first control cycle, the edge node can control the terminal device to print the object to be printed based on the bandwidth allocation information of the processing task and the first target control parameter in the five-axis linkage control parameters. The first target control parameter corresponds to the first control cycle.

[0172] Edge nodes can acquire the first actual control parameters sent by the terminal device. These first actual control parameters include the first actual position or the first actual angle corresponding to the five axes.

[0173] The edge node can adjust the second target control parameter in the five-axis linkage control parameters based on the first actual control parameter and the first target control parameter, to obtain the adjusted second target control parameter. The second target control parameter corresponds to the second control cycle. It should be noted that the second control cycle is the next control cycle after the first control cycle.

[0174] During the second control cycle, the edge node can control the terminal device to print the object to be printed based on the bandwidth allocation information of the processing task and the adjusted target second control parameters.

[0175] The above methods can improve printing accuracy.

[0176] In one implementation:

[0177] Edge nodes can be based on an asymmetric multiprocessing (AMP) architecture. That is, an edge node can include multiple cores. For example, an edge node can include a first core, a second core, and a third core.

[0178] Within the first control cycle, the edge node can control the terminal device to print the object to be printed via the second core, based on the bandwidth allocation information of the processing task and the first target control parameter in the five-axis linkage control parameters. The first target control parameter corresponds to the first control cycle.

[0179] Edge nodes can obtain the first actual control parameters sent by the terminal device through the second core. These first actual control parameters include the first actual position or the first actual angle corresponding to the five axes.

[0180] The edge node can use the second core to adjust the second target control parameter in the five-axis linkage control parameters based on the first actual control parameters and the first target control parameter, thus obtaining the adjusted second target control parameter. The second target control parameter corresponds to the second control cycle. It should be noted that the second control cycle is the next control cycle after the first control cycle.

[0181] During the second control cycle, the edge node can control the terminal device to print the object to be printed through the second core, based on the bandwidth allocation information of the processing task and the adjusted target second control parameters.

[0182] The following section describes the process by which the terminal device performs 3D printing on the object to be printed based on the five-axis linkage control parameters in the processing task.

[0183] In one implementation:

[0184] The terminal device can print the object to be printed based on the first target laser power in the five-axis linkage control parameters. Understandably, during the printing process, the terminal device controls the laser module according to the first target laser power in the five-axis linkage control parameters to print the object. The first target power corresponds to the first control cycle.

[0185] The terminal device can acquire melt depth information. This melt depth information corresponds to the first control cycle. In one implementation, the terminal device can acquire molten pool image information and process it based on a pre-trained model (such as the YOLOv5 model) to obtain the melt depth information.

[0186] The terminal device can adjust the second target laser power in the five-axis linkage control parameters based on the melt depth information to obtain the adjusted second target laser power. In one implementation, the terminal device can determine the melt depth difference based on the melt depth information (e.g., 0.32mm) and the target melt depth information (e.g., 0.3mm). The terminal device can then determine the power adjustment value based on the melt depth difference (e.g., 0.02mm). Based on the power adjustment value (e.g., a reduction of 2W), the terminal device can adjust the second target laser power (e.g., 40W) in the five-axis linkage control parameters to obtain the adjusted second target laser power (e.g., 38W). Understandably, the terminal device can adjust the second target laser power by adjusting the duty cycle. It should also be noted that this adjustment process can be completed within 1 millisecond.

[0187] The laser power of the second target corresponds to the second control cycle.

[0188] The second control cycle is the control cycle following the first control cycle.

[0189] The terminal device can print the object to be printed based on the adjusted laser power of the second target.

[0190] The beneficial effects of this embodiment are as follows: In this embodiment, the cloud server can perform layered processing on the 3D model of the object to be printed based on the material identifier, obtaining multiple layers of geometric contour information. The cloud server can determine the material parameters corresponding to the material identifier. Based on a multi-objective optimization model, the cloud server can determine the processing information corresponding to each layer according to the material parameters and the layered geometric contour information. The cloud server can process the processing information and material parameters based on a path planning cost function to obtain joint space commands and laser parameters. The cloud server can determine the processing task based on the joint space commands and laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal device. The cloud server can send multiple processing tasks corresponding to each layer to the edge nodes. For any layer, the edge node can determine the bandwidth allocation information of the processing task based on the priority value of the processing task. The edge node can control the terminal device to perform 3D printing processing on the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task. On the one hand, by transferring the calculated processing tasks corresponding to each layer to a cloud server with higher processing power, the speed of acquiring processing tasks can be improved. This, in turn, increases the efficiency of edge nodes in controlling the terminal device to print the object based on the five-axis linkage control parameters in the processing tasks. On the other hand, by having edge nodes determine bandwidth allocation information based on the priority information of processing tasks, and then control the terminal device to perform 3D printing based on the bandwidth allocation information and the five-axis linkage control parameters in the processing tasks, low-priority tasks can be prevented from monopolizing bandwidth, thereby improving 3D printing efficiency.

[0191] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0192] Figure 4 This is a schematic diagram of the structure of a 3D printing device provided in an embodiment of this application. Figure 4 As shown, the 3D printing device 40 includes a processing module 41 and a transceiver module 42.

[0193] The processing module 41 is used to perform layer processing on the three-dimensional model of the object to be printed according to the material identifier of the object to be printed, so as to obtain multiple layers of geometric contour information.

[0194] Processing module 41 is also used to determine the material parameters corresponding to the material identifier;

[0195] The processing module 41 is also used to determine the processing information corresponding to the layer based on the material parameters and the geometric contour information of the layer, according to the multi-objective optimization model.

[0196] Processing module 41 is also used to process processing information and material parameters based on path planning cost function to obtain joint space commands and laser parameters;

[0197] The processing module 41 is also used to determine the processing task based on the joint space command and laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal equipment.

[0198] The transceiver module 42 is used to send multiple processing tasks corresponding to each layer to the edge node, so that the edge node can control the terminal device to perform 3D printing processing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to each layer.

[0199] The 3D printing device provided in this application embodiment can execute the technical solution in the above method embodiment where the execution subject is a cloud server. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0200] In one implementation, the joint space command includes five-axis joint space information corresponding to each trajectory point; the laser parameters include the laser power corresponding to each trajectory point; and the processing module 41 is specifically used for:

[0201] Based on the joint space commands, laser parameters, and scanning speed in the processing information, the five-axis linkage control parameters are determined. These parameters include target control parameters corresponding to multiple control cycles and target laser power corresponding to multiple control cycles. The target control parameters include the target position or target angle corresponding to the five axes.

[0202] The 3D printing device provided in this application embodiment can execute the technical solution in the above method embodiment where the execution subject is a cloud server. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0203] Figure 5 This is a schematic diagram of another 3D printing apparatus provided in an embodiment of this application. Figure 5 As shown, the 3D printing device 50 includes an acquisition module 51 and a control module 52.

[0204] The acquisition module 51 is used to acquire multiple processing tasks corresponding to different layers sent by the cloud server. The processing tasks include the five-axis linkage control parameters corresponding to the terminal device. The processing tasks are determined by the cloud server based on joint space commands and laser parameters. The joint space commands and laser parameters are obtained by the cloud server processing the processing information and material parameters based on a path planning cost function. The processing information is determined by the cloud server based on a multi-objective optimization model, according to the material parameters and the geometric contour information of the layers. The geometric contour information of the layers is obtained by the cloud server performing layer processing on the three-dimensional model of the object to be printed based on the material identifier of the object. The material parameters correspond to the material identifier.

[0205] The control module 52 is used to control the terminal device to perform 3D printing processing on the object to be printed, based on the five-axis linkage control parameters in the processing task corresponding to the layer.

[0206] The 3D printing device provided in this application embodiment can execute the technical solution in the above method embodiment where the execution subject is an edge node. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0207] In one implementation, the control module 52 is specifically used for:

[0208] Based on the priority value of the processing task, determine the bandwidth allocation information for the processing task;

[0209] Based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task, the terminal device is controlled to print the object to be printed.

[0210] The 3D printing device provided in this application embodiment can execute the technical solution in the above method embodiment where the execution subject is an edge node. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0211] In one implementation, the control module 52 is specifically used for:

[0212] Based on the bandwidth allocation information of the processing task and the first target control parameter in the five-axis linkage control parameters, the terminal device is controlled to print the object to be printed; the first target control parameter corresponds to the first control cycle;

[0213] Acquire the first actual control parameters sent by the terminal device; the first actual control parameters include the first actual position or the first actual angle corresponding to the five axes;

[0214] Based on the first actual control parameters and the first target control parameters, the second target control parameters in the five-axis linkage control parameters are adjusted to obtain the adjusted second target control parameters; wherein, the second target control parameters correspond to the second control cycle; the second control cycle is the next control cycle after the first control cycle;

[0215] Based on the bandwidth allocation information of the processing task and the adjusted target second control parameters, the terminal device is controlled to print the object to be printed.

[0216] The 3D printing device provided in this application embodiment can execute the technical solution in the above method embodiment where the execution subject is an edge node. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0217] In one implementation, the control module 52 is specifically used for:

[0218] Determine if an emergency stop task exists; the priority value of an emergency stop task is the third priority value, and the priority value of a processing task is the second priority value, with the third priority value being greater than the second priority value.

[0219] If an emergency stop task is determined to exist, process the emergency stop task based on the obtained bandwidth allocation information; or...

[0220] If it is determined that there is no emergency stop task, the terminal device is controlled to perform 3D printing processing on the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task.

[0221] The 3D printing device provided in this application embodiment can execute the technical solution in the above method embodiment where the execution subject is an edge node. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0222] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 60 includes a processor 61 and a memory 62; wherein the processor 61 is communicatively connected to the memory 62, and the memory 62 is used to store computer execution instructions; the processor 61 is used to execute the computer execution instructions to enable the electronic device 60 to execute the technical solution in the aforementioned method embodiment where the execution subject is a cloud server or an edge node.

[0223] Optionally, the memory 62 can be either standalone or integrated with the processor 61. Optionally, when the memory 62 is a device independent of the processor 61, the electronic device 60 may further include a bus 63 for connecting the aforementioned devices.

[0224] The processor is used to execute the technical solutions in the aforementioned method embodiments where the execution subject is a cloud server or an edge node. Its implementation principle and technical effect are similar and will not be described again here.

[0225] This application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the technical solutions provided in the aforementioned method embodiments.

[0226] This application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solutions provided in the aforementioned method embodiments.

[0227] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as volatile memory and non-volatile memory.

[0228] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A three-dimensional printing method, characterized in that, Applied to a cloud server, the method includes: Based on the material identifier of the object to be printed, the three-dimensional model of the object to be printed is processed into layers to obtain multiple layers of geometric contour information. Determine the material parameters corresponding to the material identifier; Based on a multi-objective optimization model, the processing information corresponding to each layer is determined according to the material parameters and the geometric contour information of the layers. Based on the path planning cost function, the processing information and the material parameters are processed to obtain joint space commands and laser parameters; The processing task is determined based on the joint space command and the laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal device. Multiple processing tasks corresponding to different layers are sent to the edge nodes, so that the edge nodes can control the terminal device to perform 3D printing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to the layer for any one layer. The step of controlling the terminal device to perform 3D printing processing on the object to be printed based on the five-axis linkage control parameters in the processing task corresponding to the layer includes: Based on the priority value of the processing task, determine the bandwidth allocation information of the processing task; Based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task, the terminal device is controlled to print the object to be printed. The step of controlling the terminal device to print the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task includes: Based on the bandwidth allocation information of the processing task and the first target control parameter in the five-axis linkage control parameters, the terminal device is controlled to print the object to be printed; the first target control parameter corresponds to the first control cycle; The first actual control parameter sent by the terminal device is obtained; the first actual control parameter includes the first actual position or the first actual angle corresponding to the five axes. Based on the first actual control parameters and the first target control parameters, the second target control parameters in the five-axis linkage control parameters are adjusted to obtain the adjusted second target control parameters; wherein, the second target control parameters correspond to the second control cycle; the second control cycle is the next control cycle after the first control cycle; Based on the bandwidth allocation information of the processing task and the adjusted second target control parameters, the terminal device is controlled to print the object to be printed.

2. The method according to claim 1, characterized in that, The joint space command includes five-axis joint space information corresponding to each trajectory point; the laser parameters include laser power corresponding to each trajectory point; determining the machining task based on the joint space command and the laser parameters includes: The five-axis linkage control parameters are determined based on the joint space command, the laser parameters, and the scanning speed in the processing information; wherein, the five-axis linkage control parameters include target control parameters corresponding to multiple control cycles and target laser power corresponding to multiple control cycles; the target control parameters include target position or target angle corresponding to the five axes.

3. A three-dimensional printing method, characterized in that, Applied to edge nodes, the method includes: The system acquires multiple layered processing tasks sent by a cloud server. Each processing task includes five-axis linkage control parameters corresponding to the terminal device. The processing tasks are determined by the cloud server based on joint space commands and laser parameters. These joint space commands and laser parameters are obtained by the cloud server processing processing information and material parameters based on a path planning cost function. The processing information is determined by the cloud server based on a multi-objective optimization model, according to the material parameters and the geometric contour information of each layer. The geometric contour information of each layer is obtained by the cloud server performing layered processing on the three-dimensional model of the object to be printed based on the material identifier of the object. The material parameters correspond to the material identifier. For any layer, the terminal device is controlled to perform three-dimensional printing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to the layer. The step of controlling the terminal device to perform 3D printing processing on the object to be printed based on the five-axis linkage control parameters in the processing task corresponding to the layer includes: Based on the priority value of the processing task, determine the bandwidth allocation information of the processing task; Based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task, the terminal device is controlled to print the object to be printed. The step of controlling the terminal device to print the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task includes: Based on the bandwidth allocation information of the processing task and the first target control parameter in the five-axis linkage control parameters, the terminal device is controlled to print the object to be printed; the first target control parameter corresponds to the first control cycle; The first actual control parameter sent by the terminal device is obtained; the first actual control parameter includes the first actual position or the first actual angle corresponding to the five axes. Based on the first actual control parameters and the first target control parameters, the second target control parameters in the five-axis linkage control parameters are adjusted to obtain the adjusted second target control parameters; wherein, the second target control parameters correspond to the second control cycle; the second control cycle is the next control cycle after the first control cycle; Based on the bandwidth allocation information of the processing task and the adjusted second target control parameters, the terminal device is controlled to print the object to be printed.

4. The method according to claim 3, characterized in that, The step of controlling the terminal device to print the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task includes: Determine whether an emergency stop task exists; wherein the priority value of the emergency stop task is the third priority value, the priority value of the processing task is the second priority value, and the third priority value is greater than the second priority value. If the existence of the emergency stop task is determined, the emergency stop task is processed according to the obtained bandwidth allocation information of the emergency stop task; or, If it is determined that there is no emergency stop task, the terminal device is controlled to perform 3D printing on the object to be printed based on the bandwidth allocation information of the processing task and the five-axis linkage control parameters in the processing task.

5. A three-dimensional printing device, characterized in that, The apparatus for performing the method of claim 1 or 2, comprising: The processing module is used to perform layered processing on the three-dimensional model of the object to be printed according to the material identifier of the object to be printed, so as to obtain multiple layers of geometric contour information. The processing module is also used to determine the material parameters corresponding to the material identifier; The processing module is further configured to determine the processing information corresponding to the layer based on the material parameters and the geometric contour information of the layer, according to a multi-objective optimization model. The processing module is also used to process the processing information and the material parameters based on the path planning cost function to obtain joint space commands and laser parameters; The processing module is further configured to determine the processing task based on the joint space command and the laser parameters; the processing task includes the five-axis linkage control parameters corresponding to the terminal device; The transceiver module is used to send multiple processing tasks corresponding to different layers to the edge node, so that the edge node can control the terminal device to perform 3D printing on the object to be printed according to the five-axis linkage control parameters in the processing task corresponding to the layer for any one layer.

6. A three-dimensional printing apparatus, characterized in that, The apparatus for performing the method of claim 3 or 4, comprising: The acquisition module is used to acquire multiple processing tasks corresponding to different layers sent by the cloud server. The processing tasks include five-axis linkage control parameters corresponding to the terminal device. The processing tasks are determined by the cloud server based on joint space commands and laser parameters. These joint space commands and laser parameters are obtained by the cloud server processing processing information and material parameters based on a path planning cost function. The processing information is determined by the cloud server based on a multi-objective optimization model, according to the material parameters and the geometric contour information of the layers. The geometric contour information of the layers is obtained by the cloud server performing layered processing on the three-dimensional model of the object to be printed based on the material identifier of the object. The material parameters correspond to the material identifier. The control module is used to control the terminal device to perform three-dimensional printing on the object to be printed, based on the five-axis linkage control parameters in the processing task corresponding to the layer.

7. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-4.

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