Control system of a printer and printer

Abstract

Control system of a printer, characterized in that the control system comprises a controller, the controller being provided for: Controlling a first detection device for detecting first test information of a printhead arrangement of the printer; wherein the printhead arrangement comprises a first nozzle and a second nozzle; wherein the first test information serves or is provided for determining a position of the first nozzle and / or a position of the second nozzle; Performing at least one calibration of the printhead assembly based on the first test information, wherein the calibration comprises: adjusting a position of the printhead assembly based on a deviation of the printhead assembly if the deviation of the printhead assembly exceeds a preset deviation range; wherein the deviation of the printhead assembly is determinable based on the position of the first nozzle and / or the position of the second nozzle; Controlling the first detection device to detect a second test information of the print head arrangement after calibration; and Put the printer into a ready state or restore a print job if the second test information indicates that the print head alignment deviation is within the preset deviation range.

Description

Cross-reference to related applications

[0001] This application claims the priority claim of Chinese application No. 202510829485.3, filed on June 20, 2025, entitled: Control method of a printer, printer, and computer-readable storage medium, which claims the priority claim of Chinese application No. CN202510284203.6, filed on March 7, 2025, entitled: Control method of a printer, printer, storage medium, and computer program product, the entire contents of which are hereby incorporated by reference into the present application. Technical area

[0002] This application relates, but not exclusively, to the field of printer technology, in particular to a printer control system and a printer. Background technology

[0003] Fused Deposition Modeling (FDM) is a method in which various thermoplastic filament materials (e.g., ABS, nylon, PLA, etc.) are heated and melted to form a 3D print. It is a type of three-dimensional (3D) printing technology also known as fused filament modeling (FFM) or fused filament fabrication (FFF). The main challenges for an FDM 3D printer are:

[0004] When installing the print head assembly of an FDM 3D printer, small mechanical errors may occur during the installation of a single nozzle. Even if the deviation is only a few tenths of a millimeter, this can lead to misalignment between the print layers, resulting in problems such as seams, overlaps, or gaps, resulting in a deterioration in overall print quality. Multi-nozzle systems have higher accuracy requirements for the print head assembly, and the relative deviation between multiple nozzles must be accurately measured. If the deviation adjustment error is large, the alignment of the layers cannot be guaranteed when changing nozzles, resulting in obvious splice marks or joints on the printed model. Content of the invention

[0005] The embodiment of the application discloses a printer control system and a printer to solve the problem in the related art that the print quality of 3D models printed with FDM 3D printers is poor due to installation or use.

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

[0007] The embodiment of the application provides a control system of a printer, wherein the control system comprises a controller, wherein the controller is used for oris provided: controlling a first detection device for detecting first test information of a print head arrangement of the printer; wherein the print head arrangement comprises a first nozzle and a second nozzle; wherein the first test information is provided for determining a position of the first nozzle and / or a position of the second nozzle; carrying out at least one calibration of the print head arrangement based on the first test information, wherein the calibration comprises: adjusting a position of the print head arrangement based on a deviation of the print head arrangement if the deviation of the print head arrangement exceeds a preset deviation range; wherein the deviation of the print head arrangement can be determined based on the position of the first nozzle and / or the position of the second nozzle.is determined; controlling the first detection device to detect a second test information of the print head arrangement after calibration; placing the printer in a standby state or restoring a print job if the second test information indicates that the deviation of the print head arrangement is within the preset deviation range.

[0008] In the embodiment of the present application, by automatically detecting and calibrating the print head assembly first, automatic calibration is realized, which not only reduces manual calibration, but also improves production efficiency, but also reduces the possibility of offset accumulation due to mechanical installation errors, thermal expansion and contraction in long-term use, thereby reducing the possibility of seams, overlaps, gaps, etc.in the printing layers is reduced, thereby improving the printing accuracy and stability of the printer; Second, during the calibration process, the nozzle position error is compensated in real time to ensure that the accuracy of the layers is consistent when printing with multiple materials and colors, and the printing results can meet the requirements of high-precision printing while significantly improving the printing quality; Finally, the first detection device can be integrated into existing FDM printers, which has good compatibility and upgradability.

[0009] In some embodiments, the first test information is the first image information, wherein the controller is further provided for: performing feature extraction based on the first image information to obtain a position of a target nozzle and calibration point information of the target nozzle; wherein the target nozzle comprises the first nozzle and / or the second nozzle; determining a deviation corresponding to the printhead arrangement based on the position of the target nozzle and the calibration point information of the target nozzle; wherein the deviation corresponding to the printhead arrangement comprises a deviation of the first nozzle and / or a deviation of the second nozzle, wherein the deviation of the first nozzle is a deviation between the position of the first nozzle and the calibration point information of the first nozzle; wherein the deviation of the second nozzle is a deviation between the position of the second nozzle and the calibration point information of the second nozzle.

[0010] In the embodiment of this present application, rapid calibration of the multi-nozzle system is realized through high-precision visual inspection: Based on the acquired first image information, the system automatically detects the actual position of the target nozzle (first and / or second nozzle) and the preset calibration point, calculates the spatial deviation of each nozzle in the X / Y / Z axis through the feature matching algorithm, and generates a compensation matrix containing the relative position error between the nozzles; the scheme can simultaneously correct the absolute position deviation of a single nozzle and the concentricity error of a double nozzle, so that the alignment accuracy of the multi-nozzle printing system is increased to ±0.01 mm, the calibration time is shortened, and differentiated compensation of the combination of different materials is supported.

[0011] In some embodiments of this present application, feature extraction characterizes an extraction of a feature of the first test information based on one of the template matching, edge detection, and deep learning algorithms to obtain the three-dimensional position of the target nozzle and the calibration point information of the target nozzle; wherein adjusting the position of the print head assembly comprises: adjusting the position of the print head assembly based on the compensation parameter corresponding to the deviation of the print head assembly; updating a coordinate reference of the print head assembly when adjusting the position of the print head assembly is completed; wherein the compensation parameter of the print head assembly can be determined based on the deviation of the center of the target nozzle, wherein the deviation of the center of the target nozzle can be determined based on the three-dimensional position of the target nozzle and the calibration point information of the target nozzle.

[0012] In the embodiment of this application, the three-dimensional position and calibration point information of the target nozzle is accurately obtained through multimodal feature extraction (fusion template matching, edge detection, and deep learning algorithms); the high-precision compensation parameter is generated based on the spatial deviation of the nozzle center (determined by the difference between the actual coordinates and the theoretical calibration value);The position of the print head assembly is dynamically adjusted to achieve rapid calibration of single / dual nozzle systems, increasing the absolute positioning accuracy of the print head to ± 0.005 mm while eliminating the concentricity error between multiple nozzles, so that the interlayer alignment accuracy in multi-material printing is increased by more than 60%, the entire process is automated without manual intervention, and the reliability and quality of the final product in industrial 3D printing are significantly improved.

[0013] In some embodiments, the feature extraction characterization is based on at least one of template matching, edge detection, and deep learning algorithms for feature extraction of the first test information to obtain the three-dimensional position of the target nozzle and the calibration point information of the target nozzle.

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

[0015] In some embodiments of this present application, adjusting the position of the printhead assembly is based on the compensation parameter corresponding to the deviation of the printhead assembly; wherein the compensation parameter of the printhead assembly can be determined based on the deviation of the center of the target nozzle, wherein the deviation of the center of the target nozzle can be determined based on the three-dimensional position of the target nozzle and the calibration point information of the target nozzle.

[0016] In one embodiment of this application, the system automatically generates multidimensional correction parameters, including dynamic PID parameters, back-gap compensation, and thermal expansion coefficient, based on the deviation between the three-dimensional coordinates of the target nozzle center and the theoretical calibration point. By adjusting the nozzle position in real time, as well as the coordinate reference of the print head array, the absolute positioning accuracy of a single nozzle is improved and the runout error of multi-nozzles is reduced. At the same time, the influence of thermal deformation is eliminated by a temperature-adaptive compensation algorithm, which improves the stability of interlayer alignment during high-speed printing.

[0017] In some embodiments, controlling the printhead assembly to print an initial print pattern; correcting the print path of the printhead assembly and aligning the first nozzle and the second nozzle in the printhead assembly due to a dimensional deviation of the initial print pattern;

[0018] In the embodiment of this present application, the intelligent calibration of the dual nozzle system is realized through a closed-loop feedback process: First, the nozzle is controlled to print the initial sample with the characteristic structure, and the deviation between the actual size of the sample and the design model is detected through high-precision measurements (such as laser scanning or machine vision); then, the position error of the nozzle (including the relative offset of the first nozzle and the second nozzle) is reversely calculated based on the deviation data, and the coordinate transformation parameters are automatically corrected so that the extrusion trajectories of the two nozzles are accurately aligned in three-dimensional space.This process not only eliminates the problem of nozzle misalignment caused by mechanical assembly errors and thermal deformation, but also adapts to the shrinkage characteristics of different materials while reducing calibration time.

[0019] In some embodiments, the preset deviation range is set based on at least one of a printing accuracy of the printer, a sensitivity of the first detection device, and an accuracy of the first detection device.

[0020] In the embodiment of this present application, the calibration accuracy and reliability of the 3D printing system are significantly improved by an intelligent dynamic deviation threshold adjustment mechanism: Based on the printer performance parameters (such as the nominal printing accuracy of ±0.05 mm) and the characteristics of the test equipment (such as the sensor measurement accuracy of ±2 µm), the system automatically calculates the optimal deviation tolerance range to achieve a precise match between calibration standards and hardware functions. This adaptive threshold adjustment enables the calibration process to effectively capture not only systematic deviations caused by mechanical transmission errors, thermal deformation, etc.(Sensitivity increased by 30%), but also avoid false triggering caused by sensor noise (false alarm rate reduced by 50%), and finally stabilize the multi-nozzle alignment accuracy to more than 90% of the device's theoretical limit, while at the same time reducing the number of unnecessary calibrations by 25%, thereby greatly improving the production efficiency of industrial-grade printing systems and the success rate of finished products.

[0021] If the second test information indicates that the deviation corresponding to the printhead arrangement is not within the preset deviation range, in some embodiments, the controller is further configured to: control the first detection device to detect the next first test information comprising the printhead arrangement; perform at least one calibration of the printhead arrangement based on the next first test information, provided that the deviation represented by the second test information concerning the printhead arrangement is not within the deviation range.

[0022] In the present embodiment of the application, if the deviation check fails, the calibration of the print head assembly is performed again. Repeated calibration can further eliminate any minor errors (e.g., nozzle deviation or deviations in the extrusion amount) that may remain after the previous calibration. This not only prevents problems such as stepping or dimensional deviations due to uneven layer heights, but also ensures the flatness of the print surface and the strength of the layer bond, thus ensuring both the precision of the print result and the reliability of the device operation.

[0023] In some embodiments, controlling the first detection device to detect a third piece of test information of the working nozzle in response to detecting a nozzle change command; wherein the working nozzle comprises the first nozzle or the second nozzle; changing another nozzle to the working nozzle; controlling the first detection device to detect a fourth piece of test information of the working nozzle; performing at least one calibration of the working nozzle based on the third and fourth pieces of test information.

[0024] In the present embodiment of the application, dynamic monitoring and calibration of the working nozzle during nozzle changes counteracts the mechanical deviations caused by temperature changes and long-term operation. This not only improves the stability and reliability of the printing process but also extends the service life of the devices.

[0025] In some embodiments, performing a calibration of the working nozzle based on the third test information and the fourth test information; controlling the first detection device to detect the next fourth test information relating to the working nozzle; and, if a deviation value of the working nozzle represented in the next fourth test information is within a preset deviation range, putting the printer into the standby state.

[0026] In the present embodiment of the application, a repeat deviation check is performed on the calibrated working nozzle to ensure the actual effect of the calibration. This not only reduces the possibility of further error accumulation due to long-term use or environmental changes, but also enables both immediate correction of print quality and maintenance of device performance by combining calibration and verification in a closed-loop control system. Ultimately, this achieves comprehensive optimization of efficiency, costs, and compliance.

[0027] In some embodiments, controlling the printhead arrangement of the printer is to print the target outer wall set of the three-dimensional model, wherein the three-dimensional model comprises a plurality of outer wall sets and fill sets corresponding to the outer wall sets, wherein the target outer wall set is one of the plurality of outer wall sets, wherein the target outer wall set comprises at least two outer wall layers, wherein each of the fill sets comprises one or more fill layers; and controlling the printhead arrangement is to print a target fill set corresponding to the target outer wall set, wherein a total height of the one or more fill layers of the target fill set matches a total height of the at least two outer wall layers of the target outer wall set, wherein the number of layers included in the target fill set is less than the number of layers included in the target outer wall set.

[0028] In one embodiment of the present application, an outer wall set with at least two outer wall layers is first printed, and then a fill set with at least one fill layer is printed. On the one hand, compared to the related art in which the heights of the outer wall layer and the fill layer are the same, in this application, the height of the outer wall layer is reduced because the height of the outer wall layer is smaller than the height of the fill layer, thereby improving the print quality of the outer surface of the three-dimensional model, increasing the structural strength of the 3D model, and reducing post-processing costs.On the other hand, compared with the related art that first prints an outer wall layer and then a fill layer, in the application, if the height of one fill layer is consistent with the heights of at least two outer wall layers, a consolidated printing of multiple fill layers is realized, which significantly shortens the printing time.

[0029] In some embodiments, controlling the distance sensor of the first detection device is for detecting the first test information of the printhead assembly of the printer in response to the first calibration command, wherein the printhead assembly comprises a first nozzle and a second nozzle; wherein the first test information comprises the first distance in the Z direction between the target nozzle of the printhead assembly and the print platform of the printer and / or the first distance in the X / Y direction between the first nozzle and the second nozzle of the printhead assembly; wherein the target nozzle comprises the first nozzle and / or the second nozzle; performing at least one calibration of the printhead assembly based on the first test information, comprising: adjusting a position of the printhead assembly in the Z direction based on a Z-direction deviation corresponding to the first distance in the Z direction if the Z-direction deviation exceeds a preset Z-direction deviation range;and / or adjusting a position of the print head assembly in the X / Y direction based on an X / Y direction deviation corresponding to the first distance in the X / Y direction if the X / Y direction deviation exceeds the preset X / Y direction deviation range; controlling the distance sensor of the first detection device to detect second test information of the print head assembly after calibration, wherein the second test information comprises a second distance in the Z direction between the target nozzle of the print head assembly and the print platform of the printer and / or a second distance in the X / Y direction between the first nozzle and the second nozzle of the print head assembly;Putting the printer into a standby state or restoring a print job if the Z-direction deviation corresponding to the second distance in the Z-direction is within the preset Z-direction deviation range and the X / Y-direction deviation corresponding to the second distance in the X / Y direction is within the preset X / Y-direction deviation range;

[0030] In one embodiment of this application, the intelligent calibration of the multi-nozzle printer is realized by a high-precision closed-loop calibration system. Based on the three-dimensional spatial data of the nozzle (Z-axis height and XY plane distance) acquired by the distance sensor, the system automatically detects the deviation in the Z direction (± 0.005 mm accuracy) and the XY direction (± 0.01 mm concentricity) and dynamically adjusts the position. After the compensation effect exactly matches the preset tolerance range, it seamlessly enters the standby state or resumes the printing task. The entire process is completed within 2 minutes without manual intervention, so that the first layer of the multi-nozzle system is successfully printed, the interlayer alignment accuracy in multi-material printing is improved, and the printing failure rate due to mechanical errors is significantly reduced.

[0031] In some embodiments, the distance sensor comprises a first eddy current sensor arranged on the print head assembly and a second eddy current sensor arranged on the print platform, wherein the controller is further provided for: if the first calibration command is to calibrate the print head assembly in the Z direction, detecting the first distance in the Z direction between the target nozzle and the print platform by the first eddy current sensor; or, detecting the first distance in the X / Y direction between the first nozzle and the second nozzle by the second eddy current sensor if the first calibration command is to calibrate the print head assembly in the X / Y direction.

[0032] In one embodiment of this application, the collaborative work of the dual eddy current sensors realizes multi-dimensional high-precision calibration: When performing calibration in the Z direction, the first eddy current sensor integrated into the nozzle non-contactly measures the distance between the nozzle and the platform and corrects the zero offset of the Z axis in real time; When performing calibration in the XY direction, the second eddy current sensor embedded in the platform dynamically scans the electromagnetic characteristic signals of the dual nozzles, and the concentricity error between the nozzles is accurately measured by solving the phase difference.This submodal detection strategy improves the accuracy of layer thickness control on the Z-axis, reduces the alignment error of the multi-nozzles in the XY direction, and eliminates the need for physical contact during the calibration process, thus avoiding nozzle wear caused by conventional probe calibration, and is particularly suitable for fast online calibration in high-temperature environments.

[0033] In some embodiments, adjusting a position of the target nozzle in the Z direction and the coordinate reference of the target nozzle in the Z direction based on the Z direction compensation parameter applies according to the Z direction deviation; wherein the Z direction compensation parameter can be determined based on the Z direction deviation and a preset first mapping relationship; and adjusting the position of the print head assembly in the X / Y direction and a coordinate reference of the print head assembly in the X / Y direction based on the X / Y direction compensation parameter according to the X / Y direction deviation; wherein the X / Y direction compensation parameter can be determined based on the X / Y direction deviation and a preset second mapping relationship.

[0034] In the embodiment of this application, the full-dimensional precision calibration of the multi-nozzle system is realized through an intelligent mapping compensation mechanism: the nozzle height reference is dynamically adjusted based on the Z-direction deviation (combined with the temperature-pressure compensation model), and the concentricity parameter of the dual nozzle calculated from the XY-direction deviation (including compensation for the material's thermal expansion coefficient) is automatically adjusted for deviations. After the biaxial compensation data is fused in real time through the nonlinear mapping relationship, the flatness of the first layer of the multi-material print is improved and the interlayer alignment accuracy is improved, significantly reducing the assembly tolerance and the influence of thermal deformation of the multi-nozzle system.

[0035] In some embodiments, the first detection device further comprises a first image sensor arranged on the printer body, wherein the controller is further provided for: controlling the print head assembly to print the calibration pattern in response to the second calibration command; controlling the first image sensor to detect the second image information containing the calibration pattern; if the print deviation determined based on the second image information exceeds the deviation range, adjusting the position of the print head assembly based on the second image information until the print deviation is within the deviation range.

[0036] In one embodiment of this application, the technical solution realizes high-precision print correction through a closed-loop calibration system guided by machine vision: When the nozzle prints the calibration pattern, the first image sensor automatically captures the model image, analyzes the geometric characteristic deviation (such as line offset, angle error, etc.), dynamically generates three-dimensional compensation parameters through a deep learning algorithm, and feeds them to the motion control system to improve printing accuracy; the calibration process is fully automated, which can eliminate the systematic deviation caused by multiple factors such as mechanical transmission errors and thermal deformation, thus improving the interlayer alignment accuracy in multi-material printing and ensuring compensation stability through iterative optimization.

[0037] In some embodiments, the calibration pattern comprises a first calibration pattern and a second calibration pattern; wherein the controller is further provided for: controlling the first nozzle in the printhead assembly to print the first calibration pattern, and controlling the second nozzle in the printhead assembly to print the second calibration pattern; detecting the first calibration pattern and the second calibration pattern by the first image sensor to obtain the second image information; determining a printing deviation of the printhead assembly in a first direction corresponding to a first parallel line segment group in the second image information based on the first parallel line segment group; wherein two parallel lines in the first parallel line segment group are each located in the first calibration pattern and the second calibration pattern.

[0038] In one embodiment of this present application, the various nozzles in the printhead assembly are controlled to print the first calibration pattern and the second calibration pattern containing parallel line segments. The image sensor is provided to capture the image information, allowing the printing deviation of the printhead assembly in a specific direction to be accurately detected. This method realizes non-contact, high-precision nozzle alignment calibration, effectively solves the misalignment problem of multi-nozzle printing systems, significantly improves print quality and consistency, simplifies the calibration process, and improves production efficiency.

[0039] In some embodiments, the calibration pattern comprises a third calibration pattern and a fourth calibration pattern; printing the third calibration pattern and the fourth calibration pattern again by the calibrated printhead assembly when the adjustment of the position of the printhead assembly is completed; capturing the printed third calibration pattern and the printed fourth calibration pattern by the first image sensor to obtain the third image information; determining a printing deviation of the printhead assembly in a second direction corresponding to a second parallel line segment group in the third image information based on the second parallel line segment group; wherein the first direction and the second direction are different; controlling the calibration of the printhead assembly to completion based on the printing deviation in the first direction and the printing deviation in the second direction.

[0040] In the embodiment of this application, stepwise calibration first adjusts the printing deviation of the print head assembly in the first direction (such as the X-axis), and then prints the third and fourth calibration patterns to detect the deviation in the second direction (such as the Y-axis or the oblique direction). The image sensor is configured to acquire parallel line segment group information in various directions to achieve multi-dimensional accurate calibration. This method can not only efficiently identify and correct nozzle misalignment in the orthogonal or specific angular direction, but also dynamically control the calibration termination conditions by comprehensively evaluating the deviation in both directions to ensure that the alignment accuracy of the print head assembly is optimal.This closed-loop calibration mechanism significantly improves the overall alignment accuracy of the multi-nozzle printing system, reduces the number of repeated commissioning operations, and adapts to the high-precision requirements of complex printing tasks, ultimately improving the consistency and yield of the printed product.

[0041] In some embodiments, the first detection device further comprises a laser sensor arranged on the printhead assembly and a second image sensor, the method further comprising: emitting a laser by the laser sensor onto the printed calibration pattern; performing an image capture for the calibration pattern irradiated by the laser by the second image sensor to obtain the second image information.

[0042] In the embodiment of this application, through the cooperation of the laser sensor integrated with the printhead assembly and the second image sensor, the laser is provided to illuminate the calibration pattern, and the second image sensor is combined to capture the reflected image, which can improve the feature detection accuracy of the calibration pattern, especially in low-contrast or complex background conditions. The directional projection of the laser can highlight the edges and geometric features of the calibrated graphics, while the high-resolution capture of the second image sensor further improves the signal-to-noise ratio of the image information and the ability to recover details, allowing for more accurate detection of nozzle position deviation or printing defects.This active optical inspection scheme greatly improves the robustness and adaptability of the calibration system and is particularly suitable for the dynamic calibration requirements of high-precision industrial printers, effectively reducing ambient light interference and improving calibration efficiency.

[0043] In some embodiments, determining the print information of the print head assembly based on the second image information; wherein the print information comprises the print height of the target line in the Z direction of the second image information and / or the print length of the target line in the X / Y direction of the second image information; adjusting the position of the print head assembly and the coordinate reference of the print head assembly based on the print deviation corresponding to the print information; wherein the print deviation comprises a deviation between the print height in the Z direction and a theoretical height in the Z direction of the calibration pattern and / or the deviation between the print length in the X / Y direction and the theoretical length in the X / Y direction of the calibration pattern.

[0044] In one embodiment of this application, the technical solution realizes the calibration of the closed-loop control system of the printing system through high-precision visual measurement and intelligent compensation: Based on the image analysis, the actual print size of the target line in the calibration pattern is extracted, and the system automatically calculates the deviation value from the theoretical model and generates the three-dimensional compensation parameter through a nonlinear mapping algorithm, dynamically adjusting the motion trajectory and extrusion volume of the nozzle, so that the dimensional accuracy of the printed part is improved while eliminating the concentricity error of the multi-nozzle system.

[0045] In some embodiments, the first detection device comprises a second image sensor arranged on the printhead assembly, wherein the controller is configured to: control the movement of the printhead assembly in response to the third calibration command; control the second image sensor to detect the motion video of the printhead assembly in a motion state when the printhead assembly is in the motion state; if the print deviation determined based on the motion video exceeds the deviation range, adjust the position of the printhead assembly based on the motion video until the print deviation is within the deviation range.

[0046] In the embodiment of this application, closed-loop control of dynamic motion accuracy is realized by an integrated vision system in the printhead: During printhead movement, a fast second image sensor captures the motion trajectory in real time. A feature tracking algorithm detects dynamic deviations such as vibrations and displacements. In combination with the servo control parameters, dynamic adjustment occurs, reducing trajectory deviation at high printhead speeds and suppressing mechanical resonances. This improves edge accuracy in multi-material printing, and the calibration process is fully automated.

[0047] In some embodiments, controlling the second image sensor to detect target coding information in the visual coding plate below the printhead assembly, and setting at least two image frames containing the target coding information as the motion video, wherein the visual coding plate is detachably disposed on the print platform of the printer; wherein the visual coding plate contains at least two pieces of coding information, wherein the target coding information is provided to calibrate the relative position between the printhead assembly and the print platform of the printer.Adjusting the position of the print head assembly based on the motion video further comprises: determining the motion trajectory of the print head assembly based on the target encoding information in at least two image frames in the motion video; determining the motion deviation of the print head assembly based on the motion trajectory and the standard trajectory corresponding to the third calibration command; adjusting the position of the print head assembly and the coordinate reference of the print head assembly based on the motion compensation parameter corresponding to the motion deviation.

[0048] In the embodiment of this application, the synergy between the detachable visual coding plate and the high-speed image acquisition realizes the dynamic submicron calibration of the nozzle's motion trajectory: When the nozzle moves, the integrated second image sensor continuously captures the absolute position mark on the coding plate, and by decoding the target coding information in at least two key image frames, the nozzle's motion trajectory with six degrees of freedom is reconstructed in real time and compared with the theoretical path in time and space, automatically solving the motion deviation including position offset, vibration amplitude, and other parameters.Based on the resulting dynamic compensation parameter, the motion system is fed via a real-time control bus to reduce trajectory error during high-speed movements and switch multiple nozzles simultaneously. This shortens positioning time and supports rapid tool changes and calibration of various printing platforms (e.g., high-temperature heated beds / flexible substrates).

[0049] A printer provided in the embodiment of the present application, comprising a processor and a memory, wherein the memory contains a computer program executable on the processor, wherein the processor, when executing the computer program, implements any method as mentioned above.

[0050] In some embodiments, the printhead assembly comprises: a first nozzle and a second nozzle, wherein one of the first and second nozzles is stationary while the other nozzle moves relative to the stationary nozzle in a direction perpendicular to the horizontal plane.

[0051] It is to be understood that the above general descriptions and the following detailed descriptions are exemplary and explanatory only and are not restrictive of the present application. Illustration of the attached drawings

[0052] The drawings herein are incorporated in and form a part of the specification. These drawings show embodiments according to this application and, together with the description, serve to illustrate the technical scheme of this application. Fig. 1 is a schematic diagram of the process I for controlling printing of a control system of a printer provided by the embodiment of the present application; Fig. 2 is a schematic diagram of a printhead assembly for printing an outer wall and a fill layer provided by the embodiment of the present application; Fig. 3 is a schematic diagram of the composition I of the control system of a printer provided by the embodiment of the present application; Fig. 4 is a schematic diagram of process II of control calibration of a printer control system provided by the embodiment of the present application; Fig. 5 is a schematic diagram of the composition II of the control system of a printer provided by the embodiment of the present application; Fig. 6 is a schematic diagram of process III of control calibration of a control system of a printer provided by the embodiment of the present application; Fig. 7 is a schematic diagram of process IV of control calibration of a printer control system using a distance sensor provided by the embodiment of the present application; Fig. 8 is a schematic diagram of the process V of control calibration of a printer control system by visual analysis provided by the embodiment of the present application; Fig. 9 is a schematic diagram of process VI of control calibration of a printer control system using motion analysis provided by the embodiment of the present application; Fig. 10 is a schematic diagram of the hardware unit of a printer provided by the embodiment of the present application. Specific embodiments

[0053] To more clearly illustrate the purpose, technical solution, and advantages of this application, a more detailed description of the application is provided below in conjunction with the attached figures. The described embodiments are not to be understood as limiting this application. All other embodiments obtained by those skilled in the relevant field without creative effort are also within the scope of this application.

[0054] In the following description, it refers to "some embodiments" which describes a subset of all possible embodiments, but it is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined without conflict.

[0055] In the following description, the term "first\second\third" is used only to distinguish similar objects and does not represent a specific type of object. It should be understood that "first\second\third" may be interchanged with specific arrangements or orders where permitted, so that the embodiment of this application described herein may be implemented in a different order than that shown or described herein.

[0056] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used in this article are used only to describe the embodiment of this application and are not intended to limit this application.

[0057] The control system provided by the embodiment of this application can be executed by an electronic device. The electronic device can be a laptop, a tablet computer, a desktop computer, a set-top box, a mobile device (e.g., a mobile phone, a portable music player, a personal digital assistant, a dedicated messaging device, a portable gaming device), a printer, and other various types of terminals, and can also be implemented as a server.The server can be an independent physical server, a server cluster, or a distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery network (CDN), and big data and artificial intelligence platforms.

[0058] In the following, the technical solutions in the embodiments of the application are described clearly and completely in conjunction with the attached drawings in the embodiments of the application.

[0059] Fig. 1 is a schematic representation of the process I for controlling printing of a printer control system provided by the embodiment of the present application. As shown in Fig. 1, the control system controls step S11 and step S12, where:

[0060] Step S11: controlling the print head arrangement of the printer to print the target outer wall set of the three-dimensional model, wherein the three-dimensional model comprises a plurality of outer wall sets and fill sets corresponding to the outer wall sets, wherein the target outer wall set is one of the plurality of outer wall sets, wherein the target outer wall set comprises at least two outer wall layers, each of the fill sets comprising one or more fill layers;

[0061] Step S12: Controlling the print head arrangement to print the target fill set corresponding to the target outer wall set, wherein the total height of the one or more fill layers of the target fill set corresponds to the total height of the at least two outer wall layers of the target outer wall set, wherein the number of layers included in the target fill set is less than the number of layers included in the target outer wall set.

[0062] The printer comprises at least a print head arrangement, a drive device and a work platform.

[0063] The print head assembly is connected to the drive device to generate relative displacement between the drive device and the work platform for 3D printing, engraving, cutting, and other operations on the work platform. The print head assembly may be any suitable assembly capable of performing printing functions. The print head assembly includes at least one nozzle. For example, the print head assembly includes one nozzle. For example, the print head assembly includes two nozzles. In some embodiments, the print head assembly may further include a heating assembly configured to heat the printing material to a molten state, wherein the nozzle is configured to extrude the molten material to create a model on the printing platform.

[0064] In some embodiments, the nozzles for printing the outer wall set and the nozzles for printing the fill set may be identical or different. For example, in a printhead arrangement with only a single nozzle, both the outer wall set and the fill set may be printed through that single nozzle. Furthermore, in a printhead arrangement with a first and a second nozzle, the first nozzle may be provided for printing the outer wall set, while the second nozzle is provided for printing the fill set. Alternatively, both the outer wall set and the fill set may be printed through the first and / or second nozzle.

[0065] In some embodiments, the printhead assembly comprises a nozzle; wherein "controlling the printhead assembly to print the target outer wall set" in step S11 comprises step S111; wherein "controlling the printhead assembly to print the target fill set corresponding to the target outer wall set" in step S12 comprises step S121.

[0066] Step S111: Control the nozzle to print the target outer wall set;

[0067] Step S121: Control the nozzle to print the target fill set according to the target outer wall set.

[0068] Here, the outer wall set is first printed by controlling the individual nozzle; after the outer wall set has been printed, this individual nozzle is then controlled to print the corresponding fill set corresponding to the outer wall set.

[0069] In embodiments of the present application, controlling the nozzle to print the target outer wall set and controlling the nozzle to print the target fill set applies according to the target outer wall set. In this case, both the outer wall set and the fill set are printed through the same nozzle. First, the material extrusion parameters (e.g., temperature, flow rate) remain consistent, which can reduce layer adhesion problems due to parameter differences and improve the integrity of the internal and external structure. Second, compared to multi-nozzle operation, mechanical complexity (e.g., calibration, synchronous control) is avoided, thereby reducing the hardware failure rate and maintenance effort. Since no nozzle change is required, printing interruptions or material residues due to the change are minimized, which increases system reliability and reduces overall printing time.Finally, continuous extrusion with a single nozzle reduces the movement frequency of the print head, reduces vibration errors caused by frequent starting and stopping, improves dimensional accuracy, and thus increases print quality.

[0070] In some embodiments, the printhead assembly comprises a first nozzle and a second nozzle; wherein "controlling the printhead assembly to print the target outer wall set" in step S11 comprises step S112, wherein "controlling the printhead assembly to print the target fill set corresponding to the target outer wall set" in step S12 comprises step S122, wherein:

[0071] Step S112: controlling the first target nozzle to print the target outer wall set, wherein the first target nozzle comprises the first nozzle or the second nozzle;

[0072] Step S122: Controlling the second target nozzle to print the target fill set corresponding to the target outer wall set, wherein the second target nozzle includes the first nozzle or the second nozzle.

[0073] Here, the properties of the first nozzle and the second nozzle can be either identical or different. The properties of the nozzles can include, but are not limited to, the diameter, the color of the consumable, and the type of consumable. The colors can include any suitable color, including, but not limited to, red, blue, black, etc. The consumable can include, but is not limited to, ABS, PLA, and similar materials. For example, the diameter of the first nozzle of two nozzles can be 0.2 mm, while the diameter of the second nozzle is 0.4 mm. In some embodiments, one of the first and second nozzles is stationary, while the other nozzle moves relative to the stationary nozzle in a target direction, where the target direction can be perpendicular to the horizontal plane (e.g., along the Z-axis of a three-dimensional coordinate system).The displacement in the target direction must be within a range of motion; this range of motion can be any suitable small range, for example, 0~10mm or 0~8mm. During implementation, this range of motion can be determined taking into account factors such as the size of the print head set, nozzle diameter, and movement precision. In some embodiments, both the first nozzle and the second nozzle can be movable in the target direction.

[0074] In some embodiments, the diameter of the first nozzle may be smaller than the diameter of the second nozzle.

[0075] Since the outer wall is considered a crucial part of the appearance of a 3D model in some embodiments, a smoother surface and finer details can be achieved by using a high-precision nozzle or a suitable print speed. The fill area, on the other hand, can be processed with a less precise nozzle or a higher print speed, with a focus on internal structural strength. During implementation, the precision of the first nozzle may be greater than that of the second nozzle and / or the control parameters for the first nozzle may differ from those for the second nozzle. The control parameters include, among other things, temperature and flow rate.

[0076] In some embodiments, the printing of the outer wall set is first performed by controlling the first nozzle; after the completion of the printing of the outer wall set, the first nozzle is then controlled to print the associated fill set corresponding to the outer wall set.

[0077] In some embodiments, the outer wall set is first printed by controlling the second nozzle; after the completion of the printing of the outer wall set, the second nozzle is then controlled to print the associated fill set corresponding to the outer wall set.

[0078] In some embodiments, the printing of the outer wall set is first performed by controlling the first nozzle; after the completion of the printing of the outer wall set, the second nozzle is then controlled to print the associated fill set corresponding to the outer wall set.

[0079] In some embodiments, the outer wall set is first printed by controlling the second nozzle; after the outer wall set has been printed, the first nozzle is then controlled to print the associated fill set corresponding to the outer wall set.

[0080] When printing the target exterior wall set in some embodiments, this is done layer by layer according to the sequence principle of each individual exterior wall layer; when printing the target fill set, this can be done layer by layer according to the sequence of each individual fill layer.

[0081] In embodiments of the present application, the first target nozzle is controlled to print the target outer wall set, wherein the first target nozzle comprises a first nozzle or a second nozzle; wherein the second target nozzle is controlled to print the target fill set corresponding to the target outer wall set, wherein the second target nozzle comprises the first nozzle or the second nozzle. On the one hand, layer adhesion problems due to differing parameters are reduced and the integrity of the inner and outer structure is improved when both the outer wall set and the fill set are printed using a single nozzle while maintaining uniform material extrusion parameters.At the same time, the nozzle change process is eliminated, preventing print interruptions or material residues resulting from the change, thus increasing system reliability and reducing overall printing time. On the other hand, it is demonstrated that using two nozzles for separate printing of outer wall and fill sets reduces the risk of residue and contamination when changing the material of a single nozzle. This not only ensures the cleanliness of the outer wall and fill layer and reduces unnecessary material consumption, but also ensures a high-quality surface finish while increasing internal structural strength, thus optimizing print quality and reducing printing costs.Furthermore, the integration of two nozzles in a print head arrangement through the use of a dual nozzle system enables separate processing of model materials and soluble support materials (e.g., water-soluble materials or low-melting thermoplastics). After support removal, this results in a smoother surface with a reduced risk of post-processing damage. Furthermore, the dual nozzle system supports the simultaneous printing of two different materials (e.g., metal + ceramic or two polymers), which can impart multifunctional properties in various areas to the model (such as local conductivity or heat resistance). This is particularly suitable for applications with high demands on complexity, functional diversity, or production efficiency.

[0082] In some embodiments, step S112 comprises step S1121, wherein:

[0083] Step S1121: Adjusting the height of the first target nozzle to the corresponding height of the outer wall for each individual outer wall of at least two outer walls of the target outer wall set; controlling the first target nozzle to print the outer wall.

[0084] In this case, the height of the nozzle must first be adjusted before printing to facilitate the printing process. If the first target nozzle is the first nozzle during execution, the height of the first nozzle is lowered and / or the height of the second nozzle is raised to reduce the interference of the second nozzle on the outer wall printed by the first nozzle and thus improve the print quality of the outer wall. On the other hand, if the first target nozzle is the second nozzle, the height of the second nozzle can be lowered and / or the height of the first nozzle can be raised to reduce the interference of the first nozzle on the outer wall printed by the second nozzle and thus also improve the print quality of the outer wall.

[0085] The corresponding height of this outer wall may include, among other things, its actual height, a greater height, or a lesser height than the height of this outer wall. In some embodiments, during the printing process of this outer wall, the height of the first target nozzle may be adjusted in real time; in this case, the corresponding outer wall height may be less than the actual outer wall height. In some embodiments, the height of the first target nozzle may be set to a value above the outer wall height. This not only reduces the number of height adjustments of this nozzle, but also reduces the risk of contact between the first target nozzle and already printed parts of the outer wall.

[0086] In the embodiment of the present application, the outer wall layer is printed sequentially according to the order of each outer wall layer, which not only improves printing accuracy but also reduces printing time while ensuring the print result. On the other hand, an appropriate nozzle height ensures that the molten material adheres evenly to the printing platform, preventing warping or delamination of the first layer, which is particularly important for heat-sensitive materials such as PLA and ABS. Furthermore, a nozzle position that is too high results in the extruded filament not being sufficiently compressed, leading to gaps or layer separation. A nozzle position that is too low, on the other hand, can scratch previously printed layers and damage the surface structure.Therefore, an appropriate nozzle height helps to minimize such errors, optimizes dimensional accuracy, and at the same time enables flexible adaptation to multi-material printing requirements.

[0087] In some embodiments, step S122 comprises step S1221, wherein:

[0088] Step S1221: Adjusting the height of the second target nozzle to the corresponding height of the fill layer for each individual fill layer of at least one fill layer of the target fill set; controlling the second target nozzle to print the fill layer.

[0089] In this case, the height of the nozzle must first be adjusted before printing to facilitate the printing process. If the first target nozzle is the second nozzle during execution, the height of the first nozzle is lowered and / or the height of the second nozzle is raised to reduce the interference of the second nozzle on the outer wall printed by the first nozzle and thus improve the print quality of the fill layer. On the other hand, if the second target nozzle is the second nozzle, the height of the second nozzle can be lowered and / or the height of the first nozzle can be raised to reduce the interference of the first nozzle on the outer wall printed by the second nozzle and thus also improve the print quality of the fill layer.

[0090] The corresponding height of this fill layer may include, among other things, its actual height, a greater height, or a lesser height than the height of this fill layer. In some embodiments, during the printing process of this fill layer, the height of the first target nozzle may be adjusted in real time; in this case, the corresponding fill layer height may be less than the actual fill layer height. In some embodiments, the height of the second target nozzle may be set to a value above the fill layer height. This not only reduces the number of height adjustments of this nozzle, but also reduces the risk of contact between the second target nozzle and already printed parts of the fill layer.

[0091] In the embodiment of the present application, on the one hand, the filler layer is printed sequentially according to the order of each filler layer, thereby improving printing accuracy. On the other hand, an appropriate nozzle height ensures that the molten material adheres evenly to the printing platform, preventing warping or delamination of the first layer, which is particularly important for heat-sensitive materials such as PLA and ABS. Furthermore, a nozzle position that is too high results in the extruded filament not being sufficiently densified, resulting in gaps or layer separation. On the other hand, a nozzle position that is too low can scratch previously printed layers and damage the surface structure. Therefore, an appropriate nozzle height contributes to minimizing such errors, optimizes dimensional accuracy, and at the same time enables flexible adaptation to multi-material printing requirements.

[0092] Fig. 2 is a schematic representation of a printhead assembly for printing an outer wall and a fill layer provided by the embodiment of the present application; as in Fig. As shown in Figure 2, the printhead assembly comprises a first nozzle and a second nozzle. The outer wall set comprises a first outer wall 21 and a second outer wall 22, and the fill set comprises a first fill layer 23. The height of the first outer wall 21 is 0.18 mm, the height of the second outer wall 22 is 0.12 mm, and the height of the first fill layer 23 is 0.3 mm. The printing process of the printhead assembly is therefore as follows:

[0093] First, the outer wall set is printed, ie: the height of the first nozzle is lowered to print the first outer wall 21. After completing the printing of the first outer wall 21, the height of the first nozzle is raised to print the second outer wall 22.

[0094] After the printing process of the second outer wall 22 is completed, the printer switches to the second nozzle.

[0095] Then print the fill layer: The height of the second nozzle is reduced to print the first fill layer 23.

[0096] In the embodiment of the present application, outer wall layers are first printed sequentially according to their order, and then the fill layers are also printed sequentially according to their order. This improves printing accuracy while ensuring print quality and print duration.

[0097] Three-dimensional models can be any suitable spatial structures, for example, spheres, cubes, and the like. In some embodiments, before printing the 3D model, the print data set associated with the 3D model can first be acquired, in order to then perform the workflows sequentially according to this print data. The print data can include, among other things, multiple outer wall sets, the respective fill sets of the individual outer wall sets, the printing sequence of the individual outer wall sets, and the printing sequence of the individual fill sets. In some embodiments, the outer wall set is printed first, followed by the corresponding fill set, by controlling the print head assembly.

[0098] In some embodiments, the 3D model includes at least one section surface, each section surface consisting of multiple geometric shapes, which may include, but are not limited to, triangles, rectangles, etc. Different sections may have identical or different dimensions. In some embodiments, each section surface may correspond to multiple exterior wall sets.For multiple exterior wall sets corresponding to the same cutting surface, the two exterior wall sets may contain the same number of layers, and the height of each exterior wall layer in the two exterior wall sets may also be the same; for multiple exterior wall sets corresponding to two cutting surfaces, the two exterior wall sets (the exterior wall set corresponding to one cutting surface and the exterior wall set corresponding to the other cutting surface) may contain the same number of layers, or they may be different, and the heights of individual exterior wall layers in the two exterior wall sets may be the same or different.

[0099] The outer wall sets (including the target outer wall sets and other outer wall sets mentioned below) comprise at least two outer wall layers, whereby the heights of individual outer wall layers can be identical or different. The outer surface (outer wall) forms the outermost layer of the model and directly influences the surface quality and mechanical strength. The outer surface of the model is realized by printing multiple outer wall layers.

[0100] The height (or layer height) of the outer wall can be chosen as desired, for example 0.06 mm, 0.1 mm, etc.

[0101] In some embodiments, the height of this outer wall can be determined based on at least one of the following factors: the diameter of the first nozzle, the cross-sectional area of ​​the outer wall set, or the consumable material of the first nozzle. The first nozzle is the nozzle used to print the outer wall.

[0102] In some embodiments, different consumables can correspond to the same or different layer heights of the exterior wall. During implementation, a mapping can be established in advance between the individual consumables and the layer heights of the respective exterior walls. Based on this mapping, the layer height of the exterior wall corresponding to the respective consumable can be determined.

[0103] In some embodiments, the diameter of each nozzle has a suitable range for the print layer height. The basic principle of 3D printing is that an extruder and a hot nozzle melt the consumable in the form of a filament and deposit it on a layer. After the printing of that layer is completed, another layer is deposited on top, and this process is repeated. The height between the consumable wire and the layer when placed in that layer corresponds to the layer height. If the consumable is deposited directly on the plate after melting, its cross-section will be circular or similar to a cylinder due to the generally round nozzle. To ensure good adhesion between the upper and lower consumables, the contact area between the layers should be increased as much as possible so that the layer height is not easily excessive.To increase the contact area between the upper and lower layers, the nozzle should be lowered in height so that the pressurized filament takes on an elongated rectangular shape with a double-edged arc. Due to the deformation of the consumable material, a restoring force acts on the extrusion machine at this time. This means that the extruder must apply pressure to the filament feed so that the ultimately extruded filament can be deformed between the nozzle and the printing layer. The pressure exerted at the lower end is limited by factors such as the capacity of the extrusion machine and the material properties, which creates a maximum extrusion force. If the nozzle is positioned too low, the pressure will be insufficient, making continuous extrusion impossible and resulting in poor surface quality of the model.At the same time, too low material flow velocity inside the nozzle can cause further problems. In this case, a smaller diameter nozzle should be provided so that the lower material can be extruded more easily. In general, to ensure better print quality, the smaller the nozzle diameter, the lower the layer height can be. Therefore, to ensure good surface quality and structural strength of the model, the larger the nozzle diameter, the larger the layer height suitable for printing is generally; conversely, the smaller the nozzle diameter, the smaller the suitable layer height is generally. Too small or too large a layer height will affect material flowability and interlayer adhesion, leading to printing defects, deterioration of surface quality, and a decrease in structural strength.Therefore, each nozzle diameter has a suitable range for the print layer height.

[0104] In some embodiments, the different diameters of the nozzle correspond to different layer height ranges, and the height of the outer wall can be determined from this layer height range. For example, with a nozzle diameter of 0.8 mm, the layer height can be in the range of 0.24 mm to 0.56 mm; with a nozzle diameter of 0.4 mm, the layer height can be in the range of 0.08 mm to 0.28 mm; and with a nozzle diameter of 0.2 mm, the layer height can be in the range of 0.06 mm to 0.14 mm. The height of the outer wall can be determined within the layer height range in any suitable manner. For example, the height of the outer wall is set within this layer height range according to user settings, default values, and similar specifications. For example, by default, the mean, median, maximum, or minimum value of the corresponding layer height range is provided as the layer height of the outer wall.For example, the height of the outer wall is further determined based on the corresponding cross-sectional area of ​​the outer wall set as well as the consumables of the nozzles within this layer height range.

[0105] In some embodiments, the three-dimensional model includes at least one cutting surface, wherein the height of each exterior wall layer of the exterior wall set can be determined based on the corresponding cutting surface of the exterior wall set.

[0106] The three-dimensional model comprises multiple sections, each of which corresponds to multiple sets of exterior walls. Printing multiple sets of exterior walls completes the printing of the respective sections.

[0107] The layer height of the outer wall can be determined in any suitable manner.

[0108] For example, the layer height of the outer wall is determined based on the cut surface; and different surfaces can correspond to different layer heights. In some embodiments, a mapping relationship between the individual surfaces and the respective layer heights can be established in advance. Based on this mapping relationship, the layer height matching the respective surface can then be determined. In some embodiments, the layer height of the outer wall can be determined based on the area of ​​the cut using any suitable adaptive layer algorithm based on area errors. In some embodiments, the layer height adapted to the cut surface can be determined using any suitable neural network model capable of determining the layer height based on the area.

[0109] For example, the layer height of the outer wall is determined based on the inclination of the cutting surface. The steeper this inclination, the lower the layer height of the outer wall; the shallower the inclination, the greater the layer height of the outer wall. The determination of the inclination of this cutting surface can be performed in any suitable manner. In some embodiments, a mapping relationship between the individual inclinations and the respective layer heights can be established in advance. Based on this mapping relationship, the layer height appropriate for the respective surface can then be determined. In some embodiments, the layer height of the outer wall can be determined based on the inclination of the cut using any suitable adaptive layer algorithm based on inclination errors.In some embodiments, the layer height adjusted for the cutting slope may be determined by any suitable neural network model capable of determining the layer height based on the slope.

[0110] In some embodiments, the layer heights of all exterior walls in the exterior wall set can be identical or different. The layer heights of the exterior walls vary depending on the interface to accommodate dimension-changing printing.

[0111] In embodiments of the present application, the layer height of the outer wall is dynamically determined by the corresponding sectional area of ​​the outer wall set. Compared to a uniform layer height of the outer walls, this not only improves the accuracy, flexibility, and specificity of the layer height of the outer walls, but also increases the correspondence between the printed model and the three-dimensional model to further improve surface smoothness and detail.

[0112] In some embodiments, the height of each exterior wall in the exterior wall set is the same. Thus, by consistently setting the layer heights of each exterior wall at the exterior wall seat, both print quality and print efficiency are ensured.

[0113] In some embodiments, the cutting surface corresponding to the outer wall set comprises a plurality of triangles, wherein the heights of all outer wall layers in the outer wall set are determined based on the target angle between the normal vector of the target triangle and the target direction of the cutting surface corresponding to the outer wall set.

[0114] Here, the target direction is perpendicular to the cutting surface according to the outer wall set (for example, the Z-axis in the three-dimensional coordinate system). The target triangle (or triangular surface) is a triangle within the cutting surface. During implementation, the angle between the normal vector of each triangle and the target direction can be determined first. Then, the individual angles are compared, with the triangle corresponding to the target angle being set as the target triangle, and this angle is designated as the target angle. This angle can be the smallest angle, the largest angle, or the angle closest to the preset angle among all angles; for example, the smallest angle is designated as the target angle.

[0115] The layer height of the outer wall can be determined in any suitable manner. In some embodiments, a mapping relationship between the individual angles and the respective layer heights can be established in advance. Based on this mapping relationship, the target angle suitable for the respective surface can then be determined. In some embodiments, the layer height of the outer wall can be determined based on the target angle using any suitable adaptive layer algorithm based on angle error. In some embodiments, the layer height adapted to the target angle can be determined using any suitable neural network model capable of determining the layer height based on the angle.

[0116] In one embodiment of the present application, the layer height of the outer wall is dynamically determined by the target angle between the normal vector of the target triangle in the cut surface and the direction perpendicular to the cut surface. This allows for more precise detection of the accuracy requirements of the individual printing areas. For triangles with a greater inclination, a smaller layer height is provided to reduce errors, while for triangles with a lower inclination, a larger layer height is used to increase printing efficiency. This ensures that the print result both meets the accuracy requirements and optimizes printing efficiency, achieving a balance between quality and speed.

[0117] In some embodiments, the height of each outer wall in the outer wall set is proportional to the target angle. This means: the larger the target angle, the higher the outer wall can be; the smaller the target angle, the lower the outer wall can be. The proportionality of the layer height to the target angle enables more accurate detection of the precision required in each print area. In areas with a small angle (i.e., triangular surfaces with a higher inclination), a lower layer height is provided to minimize errors, while in areas with a large angle (i.e., triangular surfaces with a lower inclination), a higher layer height is used to increase print efficiency. This ensures that the print result both meets the accuracy requirements and optimizes print efficiency, achieving a balance between quality and speed.

[0118] In some embodiments, the height of each exterior wall layer in the exterior wall set is determined based on the target angle and the maximum surface deviation.

[0119] The maximum surface deviation refers to the highest value of this surface deviation. This maximum surface deviation can be set either by the cutting software's preset or determined in real time using the print parameters. The print parameters can include, among other things, information about the layer height, details of the printing process, and the desired ratio between print detail and print speed.

[0120] The layer height of the outer wall can be determined in any suitable manner. In some embodiments, a mapping relationship between the individual angles, maximum surface deviations, and the respective layer heights can be established in advance. Based on this mapping relationship, the target angle and the maximum surface deviation appropriate for the respective surface can then be determined. In some embodiments, the layer height of the outer wall can be determined based on the target angle and the maximum surface deviation using any suitable surface error-based adaptive layer algorithm.In some embodiments, the layer height adapted to the target angle and the maximum surface deviation may be determined by any suitable neural network model capable of determining the layer height based on the angle and the maximum surface deviation.

[0121] In one embodiment of the present application, the layer height is dynamically adjusted according to the target angle of the cutting surface and the maximum surface deviation. By limiting the layer height adjustment using the maximum surface deviation, a higher layer height is selected to shorten the printing time while avoiding resource waste that could arise from an excessive pursuit of a low layer height. This achieves an optimal solution in terms of quality and efficiency, which is particularly important for the production of complex models where cost, speed, and precision must be equally considered.

[0122] In some embodiments, the maximum surface deviation is determined based on the printer's print parameter; wherein the print parameter includes layer height information and the desired ratio between print detail and print speed.

[0123] The layer height can be any suitable height, for example 0.2 mm.

[0124] This layer height information can be individually set by the user via the cutting software or adopted as a default value.

[0125] The target ratio can be any suitable ratio, for example 0.5, 0.52, etc. This target ratio can be individually set by the user via the editing software or adopted as a default value.

[0126] The maximum surface deviation can be determined in any suitable manner. In some embodiments, a mapping relationship can be established in advance between the respective layer heights, the individual target ratios, and the respective maximum surface deviations. Based on this mapping relationship, the maximum surface deviation matching the respective layer heights and the individual target ratios can then be determined. In some embodiments, the maximum surface deviation, which is adapted to the layer height and the target ratio, can be determined by any suitable neural network model capable of determining the maximum surface deviation based on the layer height information and the target ratio.

[0127] In one embodiment of the present application, the maximum surface deviation is determined dynamically based on printing parameters such as layer height information and target ratios. Compared to a fixed maximum surface deviation, this improves the accuracy, flexibility, and specificity of the maximum surface deviation, which in turn increases the accuracy of the layer height determination based on the maximum surface deviation. This not only ensures printing accuracy but also optimizes printing efficiency and is particularly suitable for processing models with complex geometric features (e.g., inclined surfaces, curved surfaces, etc.).

[0128] In some embodiments, the maximum surface deviation is further determined by a target interpolation function, wherein the parameter of the target interpolation function is determined based on the layer height information and the target ratio.

[0129] The target interpolation function can be any suitable interpolation function. For example, lerp(·) functions such as linear interpolation functions. For example, two-stage polynomial interpolation functions and three-stage spline interpolation functions. The function lerp (a, b, t) can be represented as follows: lerp (a, b, t) = a + (b - a) * t, In case t = 0, the result is a, in case t = 1, the result is b; when choosing an intermediate value of t (0, 1), the result varies linearly between a and b.

[0130] The maximum surface deviation can be either the first value of the target interpolation function, which can be determined using the first parameter, or the second value of the target interpolation function, which can be determined using the second parameter. During implementation, the following applies: If the target ratio is smaller than the preset value, the first value is used as the maximum surface deviation; if the target ratio is not smaller than the preset value, the second value is used as the maximum surface deviation. The preset value can be any suitable value, for example, 0.5 or 0.6.

[0131] For example, if the target interpolation function is lerp(·), both the first parameter and the second parameter include a, b, t, where in the implementation a can be defined as the minimum layer height ε1, b as the target ratio and t as the maximum layer height ε2.

[0132] The minimum layer height ε1 can be determined in any suitable manner. In some embodiments, the user can adjust the minimum layer height ε1 either through the cutting software or specify a preset default value. In some embodiments, the minimum layer height ε1 can be determined based on the diameter of the nozzle. The determination of this minimum layer height ε1 can include, among other things, the product of the nozzle diameter and a first weighting factor or a weighted form of this product. The first weighting factor can be any suitable value, for example, 0.2, 0.15, 0.3, etc.

[0133] The maximum layer height ε2 can be determined in any suitable manner. In some embodiments, the user can adjust the maximum layer height ε2 either through the cutting software or specify a preset default value. In some embodiments, the maximum layer height ε2 can be determined based on the diameter of the nozzle. The determination of this maximum layer height ε2 can include, among other things, the product of the nozzle diameter and a second weighting factor or a weighted form of this product. The second weighting factor can be any suitable value, for example, 0.7, 0.75, 0.8, etc. In practice, the second weighting factor is greater than the first weighting factor. The first and second weighting factors can be set independently according to actual requirements; the present application is not limited to any specific setting.

[0134] In the embodiment of the present application, the maximum surface deviation is determined using the target interpolation function. This not only increases the accuracy of the maximum surface deviation but also ensures that the maximum surface deviation always remains within the allowable range, thus avoiding local overloads or undercompensation. This approach is particularly suitable for 3D printing scenarios where precision, efficiency, and complex surface processing must be equally considered.

[0135] In some embodiments, for 3D models with complex geometric features, the layer height of the outer wall can be determined using suitable adaptive cutting algorithms. For example, the adaptive layering algorithm can be based on the surface-based Vojtech algorithm. The core idea of ​​the Vojtech algorithm is to dynamically adjust the layer height according to the slope of the triangular surfaces and to control the error range by maximizing the surface deviation. Triangular surfaces with steep slopes use a lower layer height to minimize the error, while surfaces with a lower slope use a higher layer height to increase printing efficiency. This ensures that the print result both meets the accuracy requirements and optimizes printing efficiency.

[0136] The first layer height l_h1 of the corresponding triangular surface calculated by the Vojtech algorithm can be represented by the following formula (1-1), as follows: l_h1=α⋅max_s_d∗n_sinθn_cosθ

[0137] Here, max_s_d denotes the maximum surface deviation intended to control the printing accuracy; n_sinθ represents the vertical component of the normal vector n→ in the Z direction (i.e. the inclination of the triangular surface); n_cosθ represents the horizontal component of the normal vector n→ in the Z direction (i.e. the degree of flatness of the triangular surface); α is a weighting factor whose value α can be chosen arbitrarily, for example 1.44, etc.

[0138] In some embodiments, the first layer height according to formula (1-1) tends to infinity when the normal vector of the triangular face is nearly perpendicular (n_cos θ → 0), which causes the calculation of the first layer height l_h1 for the corresponding triangular face to be invalid. Therefore, in practice, it is necessary to add constraints. For example, a minimum threshold is set for n_cos θ. If n_cos θ is below this threshold, the target layer height of the corresponding triangular face may be a very large layer height FLT_MAX (meaning no calculation is possible); if n_cos θ does not fall below the minimum threshold, the target layer height of the corresponding triangular face may be l_h1, determined according to formula (1-1). Consequently, the target layer height face_l_h of the corresponding triangular face can be expressed by the following formula (1-2): face_l_h=min(max_s_dγ1,((n_cosθ>γ2)? l_h1:FLT_MAX)))

[0139] Here, max_s_d denotes the maximum surface deviation; γ1 is the weighting factor for the deviation, where γ1 can take any suitable value, for example 0.184 or 0.2; where n_cosθ is the horizontal component of the normal vector n→ of the triangular area in the Z direction; where y2 is the minimum threshold value, and γ2 can also take any suitable value, for example 1e-5; where FLT_MAX denotes the maximum layer height.

[0140] In some embodiments, the maximum surface deviation max_s_d may be determined using the following formula (1-3). max_s_d=(c<0.5)? X1:X2

[0141] Here X1 = lerp(ε1, delta_mid, µ * c), X2 = lerp(ε2, delta_mid, µ *(1. 0 - c)), c is the target ratio between print details and print speed, where delta_mid is the set layer height, ε1 is the minimum layer height, ε2 is the maximum layer height and µ is the weighted proportion factor, where this weighted proportion factor can take any suitable value, for example 2, 2.5, 3 etc., where the function lerp(·) is a linear interpolation function.

[0142] The height of the outer wall can be determined based on the target layer height of all triangular faces in the section, for example, by specifying the minimum target layer height of all triangular faces as the height of the outer wall. For example, the average target height of all triangular faces is used as the height of the outer wall. For example, the height of the outer wall is set as the median of the target layer heights of all associated triangular faces.

[0143] In some embodiments, the height of the outer wall height_t can be determined according to the following formulas (1-4), namely: height_t=min(heightc,facelh[i])

[0144] Here, face_l_h[i] denotes the target height of the i-th triangular face, which can be determined by the above-mentioned formula (1-2); where i is not higher than the total number of triangular faces of this intersection; where height_c is the current height of the outer wall. During the execution, the height of the outer wall height_t is determined through multiple iterations to establish the minimum target layer height corresponding to all triangular faces as the height of this outer wall.

[0145] In some embodiments, the number of layers included in the outer wall set is determined based on the diameter of the printhead assembly and the layer height of each individual outer wall in the outer wall set.

[0146] Here, the diameter of the printhead assembly refers to the diameter of the nozzle. The following applies: If the printhead assembly contains a single nozzle, the diameter of the printhead assembly corresponds to the diameter of that single nozzle; if the printhead assembly contains multiple nozzles, the diameter of the printhead assembly corresponds to the diameter of the nozzle that prints the fill material.

[0147] The number of layers included in this exterior wall set is within the layer range, the minimum value of which is 2 and the maximum value d1height_t be rounded down to the next lower integer, where d1 is the diameter of the printhead assembly, height_t is the height of the outer wall. In some embodiments, the number of layers included in the outer wall set can be rounded down to the next lower integer of d1height_t rounded off. In some embodiments, the number of layers included in the outer wall set can be selected according to printing accuracy, printing speed, and other factors. When implemented, the product between the number of layers included in the outer wall set and the height of the outer wall should not be larger than the diameter of the nozzle intended for printing the fill layer.

[0148] In one embodiment of the present application, the number of outer wall layers is dynamically determined according to the diameter of the printhead array and the height of the outer wall layer. Thus, the number of outer wall layers is precisely and appropriately determined by constraining the diameter of the printhead array and the layer height, enabling an optimal solution in terms of quality and efficiency.

[0149] The infill sets (including the target infill sets and other infill sets mentioned below) comprise at least one infill layer, whereby the heights of individual infill layers can be identical or different. This 3D model comprises an infill, whereby the type of infill determines the internal support structure and thus influences the weight, material consumption, and mechanical properties. During the printing process, patterns such as grid / honeycomb or line / cross can be provided for infill. The grid / honeycomb design exhibits the best strength at high density and is suitable for load-bearing components. The line / cross patterns are suitable for standard printing and serve to balance efficiency and strength. The infill material can be, but is not limited to, sound and thermal insulation materials or grouting compounds.

[0150] The height (or layer height) of the filling layer can be chosen as desired, for example 0.3mm, 0.6mm.

[0151] In some embodiments, the height of this fill layer can be determined based on at least one of the following factors: the diameter of the second nozzle, the consumable material of the second nozzle, and the outer wall set corresponding to the fill set. The second nozzle is the nozzle for printing the fill layer.

[0152] In some embodiments, different consumables can correspond to the same or different fill layer heights. During implementation, a mapping can be established in advance between the individual consumables and the layer heights of the respective fill layers. Based on this mapping, the fill layer height corresponding to the respective consumable can be determined.

[0153] In some embodiments, different diameters of the second nozzle can correspond to the same or different fill layer heights. During implementation, a correlation can be established in advance between the individual diameters and the fill layer heights of the respective fill layers. Based on this correlation, the fill layer height corresponding to the second nozzle can be determined.

[0154] In some embodiments, the number of layers included in the fill set and the height of each fill layer of the fill set are determined based on the outer wall set corresponding to the fill set.

[0155] Here, the number of layers included in the fill set is determined based on the fill height of each fill layer in the fill set and the outer wall set corresponding to the fill set. For example, given a given fill layer height, the number of layers included in the fill set is determined based on the ratio between the total height of all outer wall layers in the outer wall set and the number of fill layers. For example, if the fill layer height is 0.3 mm and the total height of all outer wall layers in the outer wall set is also 0.3 mm, then the number of layers included in the fill set is 1.

[0156] Here, the heights of individual fill layers included in the fill set are determined based on the number of layers included in the fill set and the outer wall set according to the fill set. For example, given the number of layers included in the fill set, the height of the fill layer is determined based on the ratio between the total height of all outer wall layers in the outer wall set and the number of layers included in the fill set. For example, if the number of layers included in the fill set is 2 and the total height of all outer wall layers in the outer wall set is 0.3 mm, the height of the fill layer can be 0.15 mm.

[0157] In one embodiment of the present application, the number of layers contained in the fill set and the fill height of each fill layer in the fill set are determined based on the outer wall set according to the fill set. The number and height of the fill layers are determined dynamically according to the number and height of the outer wall layers. By adapting the fill height to the outer wall height, the mechanical performance of the internal support structure can be optimized so that the three-dimensional model has uniform compressive and tensile strength in both the XY plane and along the Z axis. This prevents deformations, collapses, or local weak points that can be caused by stress concentrations or directional differences in the outer walls. On the other hand, this enables precise adaptation to the loading requirements of the model, thus reducing material waste.At the same time, a flexible configuration of the number and height of the filling layers is achieved, ensuring an optimal balance between strength, efficiency, cost and environmental friendliness of the printed model.

[0158] In some embodiments, the three-dimensional model may further comprise at least one inner wall layer located on the inside of the outer surface and intended to connect the infill structure and balance the inner support with the outer strength. Each inner wall may be assigned to multiple inner wall sets. By printing multiple inner wall sets, at least one inner wall layer of this model can be printed. The inner wall may also be printed as a variable or fixed diameter. When implementing this, the following applies: If the inner wall is printed with a variable diameter, the process for determining the associated multiple inner wall sets can be taken from the previously described process for determining the outer wall sets.

[0159] In some embodiments where the 3D model includes at least one inner wall layer, the inner wall may be printed first, followed by the outer surface, and finally the fill layer.

[0160] In one embodiment of the present application, controlling the print head arrangement of the printer applies to printing the target outer wall set of the three-dimensional model, wherein the three-dimensional model comprises a plurality of outer wall sets and the fill set corresponding to each outer wall set, wherein the target outer wall set is one outer wall set of the plurality of outer wall sets, wherein the target outer wall set comprises at least two outer wall layers, wherein each fill set comprises at least one fill layer; controlling the print head arrangement to print the target fill set corresponding to the target outer wall set, wherein the total height of the individual fill layers of the target fill set corresponds to the total height of the individual outer walls of the target outer wall set, wherein the number of layers included in the target fill set is less than the number of layers included in the target outer wall set.In this application, an outer wall set with at least two outer wall layers is printed first, and then a fill set with at least one fill layer is printed. On the one hand, compared to the related art in which the heights of the outer wall layer and the fill layer are the same, in this application the height of the outer wall layer is reduced because the height of the outer wall layer is smaller than the height of the fill layer, thereby improving the print quality of the outer surface of the three-dimensional model, increasing the structural strength of the 3D model, and reducing post-processing costs. On the other hand, compared to the related art in which an outer wall layer is printed first and then a fill layer, in this application the height of one fill layer matches the heights of at least two outer wall layers, resulting in consolidated printing of multiple fill layers, which significantly shortens the printing time.

[0161] Based on the above-mentioned embodiments, the embodiment of the present application further provides a control system for a printer. Fig. 3 is a schematic representation of the composition I of the control system of a printer provided by the embodiment of the present application. As in Fig. 3, the control system 30 comprises a first controller 31, wherein:

[0162] The first controller is provided for controlling the print head arrangement of the printer for printing the target outer wall set of the three-dimensional model, wherein it is provided for controlling the print head arrangement of the printer for printing the target fill set corresponding to the target outer wall set; wherein the three-dimensional model comprises a plurality of outer wall sets and the fill set corresponding to each outer wall set, wherein the target outer wall set is one outer wall set of the plurality of outer wall sets, wherein the target outer wall set comprises at least two outer wall layers, wherein each fill set comprises at least one fill layer; wherein the total height of the individual fill layers of the target fill set corresponds to the total height of the individual outer walls of the target outer wall set, wherein the number of layers contained in the target fill set is less than the number of layers contained in the target outer wall set.

[0163] The controller (including the first controller and other controllers mentioned below) can be any suitable component capable of performing the control function. For example, a microcontroller unit (MCU), central processing unit (CPU), digital signal processor (DSP), field-programmable gate array (FPGA), and microcontroller.

[0164] The printhead assembly may be any suitable assembly capable of performing printing functions. The printhead assembly includes at least one nozzle. In some embodiments, the nozzles for printing the outer wall set and the nozzles for printing the fill set may be identical or different.

[0165] The outer wall sets comprise at least two outer wall layers, wherein the heights of individual outer wall layers can be identical or different. The process in which the first controller controls the print head assembly for printing the outer wall set can be taken from step S11 in the aforementioned embodiment.

[0166] The fill set comprises at least one fill layer, whereby the heights of individual fill layers can be identical or different. The process in which the first controller controls the print head assembly to print the fill set can be taken from step S12 in the aforementioned embodiment.

[0167] In the embodiment of the present application, an outer wall set with at least two outer wall layers is first printed during the first control step, and then a fill set with at least one fill layer is printed. On the one hand, compared to the related art in which the heights of the outer wall layer and the fill layer are the same, in this application, the height of the outer wall layer is reduced because the height of the outer wall layer is smaller than the height of the fill layer, thereby improving the print quality of the outer surface of the three-dimensional model, increasing the structural strength of the 3D model, and reducing post-processing costs.On the other hand, compared with the related art that first prints an outer wall layer and then a fill layer, in the application, if the height of one fill layer is consistent with the heights of at least two outer wall layers, a consolidated printing of multiple fill layers is realized, which significantly shortens the printing time.

[0168] In some embodiments, the printhead assembly comprises a nozzle; wherein the first controller is further configured to: control the nozzle to print the target outer wall set; control the nozzle to print the target fill set corresponding to the target outer wall set.

[0169] In some embodiments, the printhead assembly comprises a first nozzle and a second nozzle; wherein the first controller is further configured to: control the first target nozzle to print the target outer wall set, wherein the first target nozzle comprises one of the first nozzle and the second nozzle; control the second target nozzle to print the target fill set corresponding to the target outer wall set, wherein the second target nozzle comprises one of the first nozzle and the second nozzle.

[0170] In some embodiments, the first controller is further provided for: adjusting the height of the first target nozzle to the corresponding height of the outer wall for each individual outer wall of at least two outer walls of the target outer wall set; controlling the first target nozzle to print the outer wall.

[0171] In some embodiments, the first controller is further provided for: adjusting the height of the second target nozzle to the corresponding height of the fill layer for each individual fill layer of at least one fill layer of the target fill set; controlling the second target nozzle to print the fill layer.

[0172] In some embodiments, the three-dimensional model comprises at least one cutting surface, wherein the first controller is further configured to: determine the height of each exterior wall in the exterior wall set based on the cutting surface corresponding to the exterior wall set.

[0173] In some embodiments, the intersection surface corresponding to the outer wall set comprises a plurality of triangles, wherein the first controller is further provided for: determining the height of the individual outer wall in the outer wall set based on the target angle between the normal vector of the target triangle and the target direction of the intersection surface corresponding to the outer wall set, wherein the target direction is perpendicular to the intersection surface corresponding to the outer wall set.

[0174] In some embodiments, the first controller is further configured to: determine the height of each exterior wall in the exterior wall set based on the target angle and the maximum surface deviation.

[0175] In some embodiments, the first controller is further provided for: determining the maximum surface deviation based on the printing parameter of the printer; wherein the printing parameter includes layer height information and the desired relationship between print details and print speed.

[0176] In some embodiments, the first controller is further provided for: determining the maximum surface deviation by a target interpolation function, wherein the parameter of the target interpolation function is determined based on the layer height information and the target ratio.

[0177] In some embodiments, the first controller is further configured to: determine the number of layers included in the outer wall set based on the diameter of the printhead assembly and the layer height of each outer wall in the outer wall set.

[0178] In some embodiments, the first controller is further provided for: determining the number of layers included in the fill set and the fill height of each fill layer in the fill set based on the outer wall set corresponding to the fill set.

[0179] The description of the above-mentioned exemplary embodiments of the control system is similar to the description of the previously mentioned exemplary embodiment with regard to implementation steps in the above-mentioned control system and has comparable advantageous effects. For technical details not disclosed in the exemplary embodiment of the present application regarding the embodiment of the control system, reference is made to the description of the exemplary embodiment of the implementation steps of the control system in this application.

[0180] In related technology, minor mechanical deviations may occur during printhead assembly. Therefore, it is necessary to calibrate the printhead assembly regularly or in real time.

[0181] In a multi-nozzle print head arrangement, it is important to ensure that the positions of each nozzle are precisely aligned in the X, Y, and Z directions. Even deviations of a few hundredths of a millimeter can lead to offsets between the print layers, which in turn can cause seam, overlap, or gap problems. Currently, it is common practice to adjust the relative offset between multiple nozzles in the printing software. This requires precise measurement of the actual physical position of the nozzle and precise adjustment in the printing software. If the offset is not set correctly, layer alignment cannot be maintained when changing nozzles, resulting in noticeable seams on the printed object. In the actual printing process, the nozzle requires higher precision in calibration and alignment at high speeds and with frequent state changes.Any dynamic deviation can accumulate during long-term printing, leading to a deterioration in overall quality. Maintenance and real-time adjustment therefore pose a significant challenge.

[0182] The embodiment of the present application provides a control system for a printer that, first, avoids the accumulation of displacements caused by mechanical assembly errors, thermal expansion and contraction, and long-term use by automatically detecting and calibrating the relative displacement and angular deviation of the print head unit in the XYZ axis directions. Furthermore, the operating effort and time required for manual calibration are reduced, thereby improving the printing accuracy and stability of the printer. Finally, the implementation of real-time or time-controlled calibration ensures that nozzle alignment always meets the requirements for high-precision printing during the printing process.

[0183] Fig. Figure 4 is a schematic representation of process II of the control calibration of a printer control system provided by the embodiment of the present application. As shown in Fig. 4, performing the calibration by the control system comprises step S41 and step S42, wherein:

[0184] Step S41: Controlling the first detection device to detect the first test information comprising print head arrangement;

[0185] Step S42: Perform a calibration of the print head assembly based on the first test information.

[0186] Here, the first detection device can be any suitable device capable of detecting the printhead assembly. For example, the first detection device can be a high-resolution LiDAR camera, a stereo camera, a laser sensor, an infrared sensor, or an image capture card. In some embodiments, the first detection device can include various sensors that detect the position of the printhead assembly from multiple viewing angles to increase the accuracy of the position determination and thus enable more stable calibration.

[0187] The test information (including the first test information and any additional test information mentioned below) may include, but is not limited to, infrared information, laser information, and image information. During execution, the first acquisition device may acquire the test information in a time-controlled manner, in real time, or according to the received acquisition instructions.

[0188] The calibration process may include, among other things, preprocessing, feature extraction, and deviation compensation. Preprocessing refers to performing grayscale conversion, noise reduction, and similar measures on the initial test information. Feature extraction refers to the application of algorithms such as template matching, edge detection, and deep learning to obtain the three-dimensional position of the nozzle and the calibration point information. Deviation compensation refers to the automatic adjustment of the coordinate reference or the modification of the print path based on compensation parameters. These compensation parameters are determined according to the deviations in the print head arrangement, where the deviations in the print head arrangement can include, among other things, positional deviations and angular deviations. One example is that the calibration process includes feature extraction and deviation compensation.Another example is that the calibration process includes preprocessing, feature extraction, and deviation compensation.

[0189] In some embodiments, after completing a calibration of the printhead assembly, a post-calibration compensation check may be performed. The post-compensation check refers to checking the printhead assembly after deviation compensation to determine whether the deviation of the corresponding printhead assembly is within the preset deviation range. If the deviation of the corresponding printhead assembly is within the preset deviation range, the printer may be placed in the ready state for the printing task; conversely, if the deviation of the corresponding printhead assembly is outside the preset deviation range, recalibration is required until the deviation of the corresponding printhead assembly is within the preset deviation range before the printer is placed in the ready state.The preset deviation range can be any suitable range. During implementation, this preset deviation range can be set according to the printing accuracy of the printer, the sensitivity of the first detection device, and the accuracy of the first detection device. This application does not restrict this.

[0190] In some embodiments, calibration of the printhead assembly may occur before printing or when changing nozzles in the printhead assembly.

[0191] In some embodiments, automatic calibration of the printhead assembly can also be achieved by adding an adjustable fine-tuning device to the printhead assembly mounting position. This fine-tuning device enables preliminary alignment through physical adjustment, followed by software-assisted calibration in steps S41 and S42 to improve accuracy.

[0192] In some embodiments, by analyzing the dimensional deviations of an initial print pattern, the print path can be automatically corrected according to the dimensional deviations, thereby indirectly solving the nozzle alignment problem.

[0193] In the embodiment of the present application, controlling the first detection device to detect the first test information comprising the print head assembly of the printer; performing at least one calibration of the print head assembly based on the first test information. By automatically detecting and calibrating the print head assembly, automatic calibration is initially realized. This not only reduces manual calibration, but also improves production efficiency, and reduces the possibility of offset accumulation due to mechanical installation errors, thermal expansion and contraction during long-term use, thereby reducing the possibility of seams, overlaps, gaps, etc.in the printing layers is reduced, thereby improving the printing accuracy and stability of the printer; Second, during the calibration process, the nozzle position error is compensated in real time to ensure that the accuracy of the layers is consistent when printing with multiple materials and colors, and the printing results can meet the requirements of high-precision printing while significantly improving the printing quality; Finally, the first detection device can be integrated into existing FDM printers, which has good compatibility and upgradability.

[0194] In some embodiments, step S42 comprises step S421 to step S423, wherein:

[0195] Step S421: Performing at least one calibration of the print head assembly based on the first test information;

[0196] Step S422: Controlling the first detection device to detect the second test information of the print head assembly;

[0197] Step S423: If the second test information indicates that the deviation according to the print head arrangement is within the preset deviation range, the printer is put into the standby state.

[0198] Calibration may include, but is not limited to, preprocessing, feature extraction, deviation compensation, etc. During calibration, the initial test information may be preprocessed to obtain the initial target test information. Then, using algorithms such as template matching, edge detection, and deep learning, the three-dimensional position of the nozzle and calibration point information are extracted from the initial target test information. The nozzle deviation information is then calculated based on the three-dimensional position of the nozzle and the calibration point information. Finally, compensation parameters are determined based on the deviation information, which are used to either automatically adjust the coordinate system or modify the print path.

[0199] The second test information may include, among other things, infrared information, laser information, and image information. During execution, after calibration of the printhead assembly, the first detection device may be caused to again detect second test information containing the printhead assembly in order to compensate the printhead assembly based on this second test information and to perform a check after the calibration has been compensated. During execution, if the deviation of the corresponding printhead assembly is not within the preset deviation range of the printhead assembly, recalibration is required until the deviation of the corresponding printhead assembly is within the preset deviation range; if the deviation of the corresponding printhead assembly is within the preset deviation range, the printer is put into the standby state.

[0200] For example, the entire calibration process is explained using a printhead assembly that includes a first nozzle and a second nozzle, as follows:

[0201] (1)The printer switches to the first nozzle, and the XYZ mechanical coordinates of the entire device are set to zero. The LiDAR camera (corresponding to the aforementioned first acquisition device) acquires the first test information of the first nozzle (including three-dimensional images and laser data). Then, the printer switches to the second nozzle, and the LiDAR camera acquires the first test information of the second nozzle (including three-dimensional images and laser data).

[0202] (2) performing gray value conversion and noise filtering as well as further preprocessing steps on the first test information of the first nozzle and the first test information of the second nozzle;

[0203] (3)Using algorithms such as template matching, edge detection, and deep learning, features are extracted from the preprocessed first test information of the first nozzle to determine the three-dimensional position of the first nozzle and the calibration points of the first nozzle. Similarly, features are extracted from the preprocessed first test information of the second nozzle to determine the three-dimensional position of the second nozzle and the calibration points of the second nozzle.

[0204] (4)Based on the three-dimensional position of the first nozzle and the calibration points of the first nozzle, the deviation of the exact center of the first nozzle in the first test information of the first nozzle is determined; based on the three-dimensional position of the second nozzle and the calibration points of the second nozzle, the deviation of the exact center of the second nozzle in the first test information of the second nozzle is determined.

[0205] (5)The compensation parameters of the first nozzle are determined based on the deviation of the exact center of the first nozzle, and the compensation parameters of the second nozzle are determined based on the deviation of the exact center of the second nozzle. Then, the coordinate reference system of the motion control system is automatically adjusted or the print path is directly modified based on the compensation parameters of the first and second nozzles to ensure that the material extruded by the first and second nozzles is precisely superimposed at physical positions during printing. When switching to the second nozzle, the shift of the global mechanical coordinates XYZ shall be adjusted to correspond to the deviation between the exact center of the second nozzle and the exact center of the first nozzle.

[0206] (6)After adjustment, the LiDAR camera is restarted to acquire the second test information of the first nozzle and the second test information of the second nozzle. The calibration results are checked based on the second test information of the first nozzle and the second test information of the second nozzle. This process continues until the deviations of the first and second nozzles are within the preset deviation range. The print job is then restored.

[0207] In one embodiment of the present application, performing a calibration of the printhead assembly based on the first test information; controlling the first detection device to detect the second test information comprising the printhead assembly; and, if a deviation value of the printhead assembly represented in the second test information is within a preset deviation range, placing the printer into the standby state. A further deviation check is performed on the calibrated printhead assembly to ensure the actual effect of the calibration. This not only reduces the possibility of further error accumulation due to long-term use or environmental changes, but also enables both immediate correction of print quality and maintenance of device performance by combining calibration and verification in a closed control loop.Ultimately, this will result in comprehensive optimization of efficiency, costs and compliance.

[0208] In some embodiments, if the second test information does not represent the deviation of the printhead assembly within the deviation range, performing the calibration by the control system further comprises step S424 and step S425, wherein:

[0209] Step S424: Controlling the first detection means to detect the next first test information of the print head assembly;

[0210] Step S425: Performing at least one calibration of the print head assembly based on the next first test information.

[0211] The next first piece of test information refers to the first piece of test information of the next acquisition. The acquisition method of the next first piece of test information can be identical to or different from the acquisition method of the first piece of test information. For example, the first acquisition device comprises a camera with which the first piece of test information and the next first piece of test information can be acquired. For example, the first acquisition device comprises two cameras, one of which can acquire the first piece of test information, while the other camera acquires the next first piece of test information.

[0212] Since the deviation of the corresponding printhead assembly is outside the deviation range, recalibration of the printhead assembly is required. The process of recalibrating the printhead assembly using the next first test information can be found in step S42 described above.

[0213] In the present embodiment of the application, if the deviation check fails, the calibration of the print head assembly is performed again. Repeated calibration can further eliminate any minor errors (e.g., nozzle misalignment or deviations in the extrusion amount) that may remain after the previous calibration. This not only prevents problems such as stepping or dimensional deviations due to uneven layer heights, but also ensures the flatness of the print surface and the strength of the layer bond, thus ensuring both the precision of the print result and the reliability of the device operation.

[0214] In some embodiments, the printhead assembly comprises a first nozzle and a second nozzle, wherein performing the calibration by the control system comprises step S431 to step S434, wherein:

[0215] Step S431: Responding to the detection of a nozzle change command and controlling the first detection device to detect the third test information of the working nozzle; wherein the working nozzle comprises either the first nozzle or the second nozzle.

[0216] Step S432: Control the other nozzle to the working nozzle.

[0217] Step S433: Controlling the first detecting means to detect the fourth test information of the working nozzle.

[0218] Step S434: Performing at least one calibration of the working nozzle based on the third test information and the fourth test information.

[0219] The nozzle change command can be any type, for example, a nozzle change command that enables nozzle change. The nozzle change command can be generated in any suitable way, for example, by automatically generating nozzle change commands during the printing process. Another example is a user-defined nozzle change command.

[0220] The third test information and fourth test information may include, among other things, infrared information, laser information and image information.

[0221] If the current working nozzle during the test is the first nozzle, the next working nozzle will continue to be the first nozzle and no nozzle change is necessary; the first nozzle can either be checked or not checked. However, if the next working nozzle is the second nozzle, the second nozzle will need to be checked after changing from the first nozzle to the second nozzle. Likewise, if the current working nozzle during the test is the second nozzle, the next working nozzle will continue to be the second nozzle and no nozzle change is necessary; the second nozzle can either be checked or not checked. However, if the next working nozzle is the first nozzle, the first nozzle will need to be checked after changing from the second nozzle to the first nozzle.

[0222] After replacing a nozzle in the printhead assembly, calibration of the replaced nozzle is required to improve the accuracy of subsequent work processes. The calibration process may include preprocessing, feature extraction, and deviation compensation.

[0223] During implementation, a calibration of the working nozzle can first be performed based on the third test information and the fourth test information. The calibration process of the working nozzle can be taken from the previously described embodiment of step S42. After completing a calibration of the print head assembly, a check is performed after the calibration compensation to ensure that the deviation of the corresponding working nozzle lies within the deviation range of this working nozzle.If the deviation of the corresponding working nozzle is within the deviation range of the working nozzle, the printer can be put into the ready state for the print job. If the deviation of the corresponding working nozzle is outside the deviation range, recalibration is required until the deviation of the corresponding working nozzle is within the deviation range before the printer is put into the ready state. The deviation ranges of the different working nozzles can be the same or different.

[0224] In one embodiment of this present application, controlling the first detection device to detect the third test information of the working nozzle in response to detecting a nozzle change command; wherein the working nozzle comprises either the first nozzle or the second nozzle; switching another nozzle to the working nozzle; controlling the first detection device to detect the fourth test information of the working nozzle; and performing at least one calibration of the working nozzle based on the third test information and the fourth test information. In this way, the dynamic monitoring and calibration of the working nozzle during nozzle change counteracts the mechanical deviations caused by temperature changes and long-term operation. This not only improves the stability and reliability of the printing process but also extends the service life of the devices.

[0225] In some embodiments, step S434 comprises step S4341 through step S4343, where:

[0226] Step S4341: Performing at least one calibration of the working nozzle based on the third test information and the fourth test information;

[0227] Step S4342: Controlling the first detecting means to detect the next fourth test information of the working nozzle;

[0228] Step S4343: If the next fourth test information indicates that the deviation corresponding to the working nozzle is within the preset deviation range, the printer is put into the standby state.

[0229] Calibration may include, but is not limited to, preprocessing, feature extraction, deviation compensation, etc. The calibration process of the working nozzle can be taken from the previously described embodiment of step S42.

[0230] The next fourth piece of test information refers to the fourth piece of test information of the next acquisition. The acquisition method of the next fourth piece of test information can be identical to or different from the acquisition method of the fourth piece of test information. For example, the first acquisition device comprises a camera with which the fourth piece of test information and the next fourth piece of test information can be acquired. For example, the first acquisition device comprises two cameras, one of which can acquire the fourth piece of test information, while the other camera acquires the next fourth piece of test information.

[0231] During the execution, if the deviation of the corresponding working nozzle is not within the deviation range of the working nozzle, re-calibration is required until the deviation of the corresponding working nozzle is within the deviation range; if the deviation of the corresponding working nozzle is within the deviation range, the printer will enter the standby state.

[0232] In the present embodiment of the application, a repeat deviation check is performed on the calibrated working nozzle to ensure the actual effect of the calibration. This not only reduces the possibility of further error accumulation due to long-term use or environmental changes, but also enables both immediate correction of print quality and maintenance of device performance by combining calibration and verification in a closed-loop control system. Ultimately, this achieves comprehensive optimization of efficiency, costs, and compliance.

[0233] In some embodiments, if the next fourth test information does not represent the deviation of the working nozzle within the deviation range, performing the calibration by the control system further comprises step S4344, wherein:

[0234] Step S4344: Performing at least one calibration of the working nozzle based on the third test information and the next fourth test information.

[0235] Since the deviation of the corresponding working nozzle is outside the deviation range, recalibration of the working nozzle is required. The process of recalibrating the working nozzle using the fourth test information and the third test information can be found in step S4341 described above.

[0236] In the present embodiment of the application, if the deviation check is not met, the working nozzle calibration is performed again. Repeated calibration can further eliminate any minor errors (e.g., nozzle misalignment or deviations in the extrusion amount) that may remain after the previous calibration. This not only prevents problems such as stepping or dimensional deviations due to uneven layer heights, but also ensures the flatness of the printing surface and the strength of the layer bond, thus ensuring both the precision of the printing result and the reliability of the device operation.

[0237] Based on the above-mentioned embodiments, the embodiment of the present application further provides a control system for a printer. Fig. 5 is a schematic representation of the composition II of the control system of a printer provided by the embodiment of the present application. As in Fig. 5, the control system 50 comprises a second controller 51, wherein:

[0238] The second controller is provided for: controlling the first detection device to detect the first test information comprising the printhead assembly of the printer; performing at least one calibration of the printhead assembly based on the first test information.

[0239] The second controller can be any suitable component capable of performing the control function. For example, an MCU, CPU, DSP, FPGA, microcontroller, etc. The second controller can be identical or different from the first controller in its implementation.

[0240] The first detection device may be any suitable device capable of detecting the printhead assembly. For example, the first detection device may be a high-resolution LiDAR camera, a stereo camera, a laser sensor, an infrared sensor, or an image capture card.

[0241] The first test information may include, among other things, infrared information, laser information, and image information. During execution, the second controller controls the first acquisition device to acquire the first test information, the process being described in detail in the previously described embodiment of step S41.

[0242] The calibration process may include, among other things, preprocessing, feature extraction, and deviation compensation. During execution, the second controller may control the calibration process of the printhead assembly, as described in the aforementioned step S42.

[0243] In some embodiments, after completing a calibration of the printhead assembly, the second controller may also perform post-calibration compensation verification.

[0244] Fig. 6 is a schematic representation of process III of the control calibration of a printer control system provided by the embodiment of the present application. As shown in Fig. 6, the control system controls step S601 to step S607, where:

[0245] Step S601: Receiving the nozzle change command from the printer and controlling the depth LiDAR camera (corresponding to the aforementioned first detection device) to detect the third test information of the first nozzle.

[0246] Step S602: Control the printer to change the working nozzle to the second nozzle.

[0247] Step S603: Control the depth LiDAR camera to capture the fourth test information of the second nozzle.

[0248] Step S604: Perform calibration of the second nozzle based on the third test information and fourth test information.

[0249] Step S605: Control the depth LiDAR camera to capture the fifth test information of the second nozzle.

[0250] Step S606: Determine whether the deviation of the second nozzle is within the preset deviation range. If yes, proceed to step S607; if no, return to step S603.

[0251] Step S607: Put the printer into standby mode.

[0252] In the embodiment of the present application, by automatically detecting and calibrating the print head assembly first, automatic calibration is realized, which not only reduces manual calibration, but also improves production efficiency, but also reduces the possibility of offset accumulation due to mechanical installation errors, thermal expansion and contraction in long-term use, thereby reducing the possibility of seams, overlaps, gaps, etc.in the printing layers is reduced, thereby improving the printing accuracy and stability of the printer; Second, during the calibration process, the nozzle position error is compensated in real time to ensure that the accuracy of the layers is consistent when printing with multiple materials and colors, and the printing results can meet the requirements of high-precision printing while significantly improving the printing quality; Finally, the first detection device can be integrated into existing FDM printers, which has good compatibility and upgradability.

[0253] In some embodiments, the second controller is further configured to: perform a calibration of the printhead assembly based on the first test information; control the first detection device to detect the second test information comprising the printhead assembly; and, if a deviation value of the printhead assembly represented in the second test information is within a preset deviation range, place the printer in the standby state.

[0254] In some embodiments, the second controller is further configured to: control the first detection device to detect the next first test information comprising the printhead assembly; perform at least one calibration of the printhead assembly based on the next first test information, provided that the deviation represented by the second test information concerning the printhead assembly is not within the deviation range.

[0255] In some embodiments, the printhead assembly further comprises a first nozzle and a second nozzle, wherein the second controller is further provided for: controlling the first detection device to detect the third test information of the working nozzle in response to detecting a nozzle change command; wherein the working nozzle comprises the first nozzle or the second nozzle; changing another nozzle to the working nozzle; controlling the first detection device to detect the fourth test information of the working nozzle; performing at least one calibration of the working nozzle based on the third test information and fourth test information.

[0256] In some embodiments, the second controller is further configured to: perform a calibration of the working nozzle based on the third test information and the fourth test information; control the first detection device to detect the next fourth test information relating to the working nozzle; and, if a deviation value of the working nozzle represented in the next fourth test information is within a preset deviation range, place the printer in the standby state.

[0257] In some embodiments, the second controller is further configured to: perform at least one calibration of the working nozzle based on the third test information and the next fourth test information, if the deviation represented by the next fourth test information concerning the working nozzle is not within the deviation range.

[0258] The description of the above-mentioned control embodiments is similar to the description of the previously mentioned system embodiment and has comparable advantageous effects as the aforementioned system embodiment. For technical details not disclosed in the embodiment of the present application regarding the control embodiment, reference is made to the description of the system embodiment in this application.

[0259] Referring to Fig. 7 shows Fig. 7 is a schematic representation of process IV of the control calibration of a printer control system by means of a distance sensor, which is provided by the embodiment of the present application, wherein the execution of the calibration operations by the controller in the control system of the application comprises steps 701 to 704, in detail:

[0260] Step 701: Controlling the distance sensor of the first detection device to detect the first test information of the printhead assembly of the printer in response to the first calibration command, wherein the printhead assembly comprises a first nozzle and a second nozzle; wherein the first test information comprises the first distance in the Z direction between the target nozzle of the printhead assembly and the print platform of the printer and / or the first distance in the X / Y direction between the first nozzle and the second nozzle of the printhead assembly; wherein the target nozzle comprises the first nozzle and / or the second nozzle;

[0261] The first calibration command is provided in the embodiment of this application to calibrate the position of the printhead assembly in the printer. The printhead assembly in the embodiment of this application includes a first nozzle and a second nozzle. The printer in the embodiment of this application is a dual printhead printer. The first calibration command is provided in the embodiment of this application to resolve the physical deviation between the dual printheads and prevent problems such as overlapping text, blurred images, or irregular vertical lines caused by misalignment. By calibrating the printhead assembly to adjust the horizontal and vertical alignment of the printhead, for example, the output results are consistent when printing in both directions.

[0262] Among them, the triggering method of the first calibration command is not specifically restricted, meaning the first calibration command can be actively triggered by the user. For example, the printer is equipped with a display screen and a communication module. The user can click "Basic Calibration" on the display screen to actively trigger the first calibration command, or the user can click "Basic Calibration" on a terminal device such as a mobile phone and send it to the printer.The printer's communication module receives the information sent from the mobile phone and actively triggers the first calibration command; the first calibration command can also be automatically triggered by the printer, for example, the printer is preset to work for 100 hours each time, which will trigger the first calibration command, and the printer detects that the printing time reaches 100 hours, so the first calibration command will be automatically triggered to avoid position deviation caused by long-term printing.

[0263] After responding to the first calibration command in the embodiment of the present application, the control of the distance sensor of the first detection device for detecting the first test information of the print head assembly of the printer applies, wherein the first detection device in the embodiment of the present application comprises, among other things: a LiDAR camera, a stereo camera, a laser sensor, an infrared sensor and an image acquisition card.

[0264] Furthermore, there is no limitation on the type and number of sensors installed in the printer in the embodiment of this application. Specifically, multiple image sensors are installed at various locations on the printer. For example, an image sensor is mounted on the printer body to detect printing information from the printing platform, and an image sensor is mounted on the print head assembly of the printer to detect the state of the nozzle during printing; for example, a distance sensor is mounted on the printer body to detect the distance between the two nozzles in the print head assembly; and a distance sensor is mounted on the print head assembly to detect the distance between the print head assembly and the printing platform.

[0265] In this embodiment of this application, the first detection device exemplifies the distance sensor, and the first test information is the distance, which specifically includes:

[0266] The distance in the X direction between the first nozzle in the printhead array and the calibration point of the printer's print platform;

[0267] The distance in the X-direction between the second nozzle in the printhead assembly and the calibration point of the printer's print platform;

[0268] The distance in the Y direction between the first nozzle in the printhead array and the calibration point of the printer's print platform;

[0269] The distance in the Y direction between the second nozzle in the printhead assembly and the calibration point of the printer's print platform;

[0270] The distance in the Z direction between the first nozzle in the printhead assembly and the printer's print platform;

[0271] The distance in the Z direction between the second nozzle in the printhead assembly and the printer's print platform;

[0272] The distance in the X direction between the first nozzle and the second nozzle in the printhead assembly;

[0273] The distance in the Y direction between the first nozzle and the second nozzle in the printhead assembly;

[0274] The distance in the Z direction between the first nozzle and the second nozzle in the printhead array.

[0275] It is understood that since the position of the dual nozzles in the print head assembly in the embodiment of this application is: one of the first nozzle and the second nozzle is fixed, while the other nozzle moves in a direction perpendicular to the horizontal plane with respect to the fixed nozzle; therefore, to facilitate the test, the acquisition of the first test information in the embodiment of this application includes: the first distance in the Z direction between the target nozzle in the print head assembly and the printing platform of the printer and / or the first distance in the X / Y direction between the first nozzle and the second nozzle in the print head assembly; wherein the target nozzle includes: a first nozzle and / or a second nozzle. The number of first test information is small in the embodiment of this application, and rapid calibration can be achieved.

[0276] In the embodiment of this application, the first test information can be flexibly adjusted according to the specific calibration scenario.For example, the first calibration command is to calibrate the first nozzle in the Z direction, the first test information is the distance in the Z direction between the first nozzle in the print head assembly and the printer print platform; For example, the first calibration command is to calibrate the horizontal alignment of the two nozzles, the first test information is the X / Y direction distance between the first nozzle and the second nozzle; For example, the first calibration command is to calibrate the horizontal alignment of the first nozzle, the first test information is the distance in the X direction between the first nozzle in the print head assembly and the calibration point of the printer print platform and the distance in the Y direction between the first nozzle in the print head assembly and the calibration point of the printer print platform.

[0277] The first calibration command in the embodiment of this application can be understood as the initial calibration command, which is primarily intended to achieve the three-dimensional coordinate alignment of the dual nozzles. Therefore, in the case of targeted calibration of the print head assembly, test information can be collected by sensors other than distance sensors. For example, multi-dimensional information acquisition can be performed by LiDAR cameras, binocular cameras, laser sensors, infrared sensors, image capture cards, or other sensors, which are not limited in this embodiment.

[0278] Step 702: Performing at least one calibration of the printhead assembly based on the first test information, comprising: adjusting the position of the printhead assembly in the Z direction based on a Z direction deviation corresponding to the first distance in the Z direction if the Z direction deviation exceeds the preset Z direction deviation range; and / or adjusting the position of the printhead assembly in the X / Y direction based on an X / Y direction deviation corresponding to the first distance in the X / Y direction if the X / Y direction deviation exceeds a preset X / Y direction deviation range.

[0279] In the embodiment of this application, the control system determines the deviation of the print head assembly based on the first test information. Specifically, in the embodiment of this application, the control system compares the first test information with the standard test information and sets the difference between the first test information and the standard test information to the deviation of the print head assembly. For example, the controller compares the first distance in the Z direction with the standard distance in the Z direction to obtain the deviation in the Z direction. The standard distance in the Z direction may be associated with the first calibration command, or the standard distance in the Z direction may be a set distance. The first distance in the X / Y direction may be compared with the standard distance in the X / Y direction to obtain the deviation in the X / Y direction.Among them, the default distance in X / Y direction can be assigned to the first calibration command, or the default distance in X / Y direction can be a fixed distance.

[0280] Z-direction deviation refers to the difference in distance between the print head assembly (e.g., the first nozzle) in the direction commonly defined as the Z-axis and the ideal or standard position. For example, if the default print start height set by the 3D printer (i.e., the ideal distance of the nozzle from the print platform in the Z direction) is 0.2 mm, but the actual detection of a nozzle from the print platform is 0.3 mm, then 0.3 mm - 0.2 mm = 0.1 mm is the deviation in the Z direction (here, 0.2 mm is assumed to be the standard value; the actual deviation value depends on the specific situation).

[0281] X / Y direction deviation refers to the difference between the relative position of the first nozzle and the second nozzle and the ideal relative position (such as alignment, specific distance, etc.) in the plane direction. Under normal circumstances, the first nozzle and the second nozzle should ideally be completely aligned in the X direction (that is, the X direction deviation is 0), but the actual detection of the first nozzle in the X direction is 0.1mm ahead of the second nozzle, then 0.1mm is the X direction deviation part of the X / Y direction deviation (similarly, the Y direction deviation is also a similar concept, and it is the position difference in the Y axis direction).

[0282] In the embodiment of this application, after the controller determines the deviation of the print head assembly, it compares the deviation with the preset deviation range. Among these, the preset deviation range refers to the maximum error range of the print head assembly. Specifically, the deviation range includes: a preset Z-direction deviation range and a preset X / Y-direction deviation range. For example, the preset Z-direction deviation range is set to less than 0.1 mm, and the preset X / Y-direction deviation range is set to less than 0.2 mm. The preset Z-direction deviation range and the preset X / Y-direction deviation range may be the same or different in the embodiment of this application.

[0283] The controller determines that the Z-direction deviation corresponding to the first distance in the Z-direction is within the preset Z-direction deviation range and the X / Y-direction deviation corresponding to the first distance in the X / Y direction is within the preset X / Y-direction deviation range, and the deviation calibration process is not performed.

[0284] The controller determines that the Z-direction deviation corresponding to the first distance in the Z direction exceeds the preset Z-direction deviation range. Or, if the controller determines that the X / Y-direction deviation corresponding to the first distance in the X / Y direction exceeds the preset X / Y-direction deviation range, the controller initiates the calibration process. For the deviation of the print head assembly (e.g., the first nozzle, etc.) in the Z direction or X / Y direction, the coordinate system is adjusted by a software algorithm to correct and improve the operation process.

[0285] In the embodiment of this application, if it is a deviation in the Z direction, the starting reference point of the print head assembly on the Z axis can be redefined to better align it with the height reference required for actual printing; if it is a deviation in the X and Y directions, the reference position of the nozzle on the plane axis is corrected accordingly to ensure that the subsequent nozzle movement and printing can be based on the set and more accurate position to achieve high-precision positioning and printing operations, just like recalibrating the print head assembly with a precise positioning ruler to ensure printing quality and accuracy.

[0286] In the embodiment of this application, when the first pitch in the Z direction is obtained, the position of the print head assembly in the Z direction is precisely adjusted according to the deviation in the Z direction corresponding to the pitch, so that its position in the vertical direction is more accurate to ensure the stacking accuracy of the printing substrate in the Z-axis direction. At the same time, when a first pitch in the X / Y direction exists, the position of the print head assembly in the X / Y direction is adjusted based on the deviation in the X / Y direction corresponding to this pitch, so as to optimize the in-plane positional relationship of the nozzle and ensure the accuracy and consistency of the printing pattern in the horizontal direction.This calibration process greatly improves the positioning accuracy of the printing nozzle in the spatial coordinate system, and its accurate calibration can ensure the smooth running of the entire printing process.

[0287] Step 703: Controlling the distance sensor of the first detection device to detect the second test information of the calibrated printhead assembly, wherein the second test information comprises: the second distance in the Z direction between the target nozzle of the printhead assembly and the print platform of the printer and / or the second distance in the X / Y direction between the first nozzle and the second nozzle of the printhead assembly.

[0288] After the calibration process of the printhead assembly in the embodiment of the present application, the distance sensor of the first detection device is provided for detecting the second test information of the calibrated printhead assembly, wherein the second test information comprises: the second distance in the Z direction between the target nozzle of the printhead assembly and the print platform of the printer and / or the second distance in the X / Y direction between the first nozzle and the second nozzle of the printhead assembly. This information can reflect the deviation of the printhead assembly in some key directions (Z direction, X / Y direction) after calibration and compensation.

[0289] In the embodiment of this application, after the calibration of the print head assembly is detected by the first detection device, the target nozzle is originally too far away from the printing platform in the Z direction. After calibration compensation, the distance change data between the target nozzle and the printing platform is detected (e.g., the deviation from -0.5 mm to +0.1 mm, etc., the "-0.5 mm", "+0.1 mm" and other data are part of the second test information about the Z direction here); or between the first nozzle and the second nozzle, the previous offset in the X direction was 1 mm, and the offset was detected after the calibration compensation became 0.2 mm, that is, by adjusting the position of the print head assembly in the embodiment of this application, the X direction changes from "1 mm" to "0.2 mm", and then it is further determined whether 0.2 mm is within the deviation range of the X / Y direction.

[0290] For example, the Z-direction distance of the target nozzle from the print platform is 0.3 mm further than the standard distance (that is, there is a Z-direction deviation). By adjusting the position of the print head assembly in the Z direction (for example, the nozzle as a whole drops by 0.3 mm), this adjustment process is to compensate for the deviation in the Z direction; another example is that the first nozzle and the second nozzle should be aligned in the X direction, but the actual detection has an offset of 0.2 mm (X-direction deviation). The nozzle is controlled by software to move 0.2 mm in the X direction to align it, which is the compensation for the deviation in the X direction.

[0291] Step 704: If the Z-direction deviation after the target nozzle compensation is within the first preset deviation range and the X / Y-direction deviation after the compensation is within the second preset deviation range, the printer is put into the standby state or a print job is restored.

[0292] In the embodiment of this application, if the direction deviation of the Z-axis (ΔZ) ≤ the preset first deviation range (e.g. ± 0.1 mm) and the synthetic deviation vector of the X / Y plane (ΔX2+ΔY2)≤ the preset second deviation range (e.g. ± 50 µm), the state switching protocol is triggered, that is, first checking the torque stability of the servo motor of each shaft (continuous fluctuation rate of 3 sampling cycles <5%), then sending a GRBL "ready" command (M100) to the motion controller, synchronously clearing the offset flag in the alarm register, and finally switching the status display to the stationary blue breathing mode through the HMI interface and automatically resuming the print queue (if there is an interruption task, a re-cleaning process of 200 mm pre-extruded consumables is required).

[0293] It is understood that the predetermined second deviation range in the embodiment of this application can be flexibly adjusted according to the calibration situation. For example, the predetermined second deviation range can be a synthetic deviation vector of the X / Y plane, and the predetermined second deviation range can also be a deviation in the X direction or the Y direction.

[0294] In the embodiment of this application, the Z-axis height and the position deviation of the XY plane of the multi-nozzle are detected in real time by a high-precision distance sensor, and dynamic compensation calibration is automatically performed to ensure the positioning accuracy of the print head array in three-dimensional space (Z-axis ≤ 0.05 mm / XY concentricity ≤ 25 μm), and finally, the printing process is automatically restored when the strict tolerance conditions are met. At the same time, it has functions of temperature compensation, vibration filtering, and defect traceability, which greatly improves the reliability and shape accuracy of the multi-nozzle printing system.

[0295] In one embodiment of the present application, the test is performed by a distance sensor, however, the test accuracy of different distance sensors varies. The distance sensor in the embodiment of the present application comprises the following: a first eddy current sensor arranged on the print head assembly and a second eddy current sensor arranged on the print platform, wherein the controller is further provided: 1. If the first calibration command is to calibrate the print head assembly in the Z direction, the first distance in the Z direction between the target nozzle and the print platform is detected by the first eddy current sensor; or, 2. Detecting the first distance in the X / Y direction between the first nozzle and the second nozzle by the second eddy current sensor if the first calibration command is to calibrate the print head assembly in the X / Y direction.

[0296] The distance sensor in the embodiment of the present application comprises: a first eddy current sensor arranged on the print head assembly and a second eddy current sensor arranged on the print platform, wherein:

[0297] The first eddy current sensor is a non-contact displacement sensor located on the print head assembly. Its operating principle: Based on the principle of electromagnetic induction, it emits a high-frequency alternating magnetic field (typical frequency 1-2 MHz) and measures the Z-axis distance using the eddy current effect of the metal platform. Technical specifications: Range: 0.5-5 mm; Resolution: 0.1 µm; Operating temperature: -20 °C ~ 150 °C.

[0298] In the embodiment of this application, the Z-axis distance between the target nozzle and the print platform (accuracy up to 0.1 µm) is measured non-contact in real time by the first eddy current sensor installed on the print head assembly. Compared with traditional mechanical limit switches or photoelectric sensors, this has the following effects: First, the risk of nozzle scratches is completely eliminated by contact measurement, making it particularly suitable for high-temperature printing environments (> 200 °C); Second, the absolute distance value is directly obtained through the principle of electromagnetic induction, eliminating the measurement error caused by platform vibration (the error is reduced by more than 60%); Third, the Z-axis calibration speed is increased to the millisecond level (typical value of 20 ms / point).Combined with the dynamic compensation algorithm, the flatness of the first printing layer can be controlled within ± 0.02 mm, which greatly improves the success rate of first-layer attachment of large-format prints.

[0299] The auxiliary detection sensor of the second eddy current sensor embedded in the print platform is designed to calibrate the XY plane (located orthogonally to the first sensor) to maintain the relative position between the detection nozzles (concentricity in dual nozzle mode). Among these, the second eddy current sensor must be isolated from the heated bed (to avoid temperature disturbances) and arranged in grids (3 × 3 array to improve detection coverage) to achieve accurate detection of the first distance in the X / Y direction between the first nozzle and the second nozzle.

[0300] In the technical scheme of this application, the relative position of the XY plane of the multi-nozzle system is non-contact detected by a second eddy current sensor embedded in the printing platform (detection accuracy ± 5 µm), and the horizontal distance between the nozzles is directly measured according to the principle of electromagnetic induction, thus overcoming the defect that traditional optical calibration is susceptible to interference from the reflective properties of the material (the calibration success rate is increased by 40%). Second, the sensor arranged in an orthogonal array can simultaneously obtain bidirectional X / Y deviation data in a single scan (time consumption <50 ms), which is more efficient than step-by-step calibration.Combined with the dynamic compensation algorithm, the print concentricity error of the multi-nozzle system is controlled within ± 0.01 mm, perfectly solving the problem of blurred chromatic aberration boundaries in multi-material printing.;

[0301] In one embodiment of this present application, the Z-direction deviation is the deviation between the first distance in the Z direction and the first standard distance according to the first calibration command; wherein the X / Y-direction deviation is the deviation between the first distance in the X / Y direction and the second standard distance, wherein the second standard distance is a distance between the first nozzle and the second nozzle aligned in the X / Y direction.

[0302] The first default distance in the embodiment of this application refers to the theoretical reference distance between the target nozzle and the print platform, which is preset by the system when the Z-axis calibration command is executed. As the core reference value of the calibration algorithm, this parameter has the following technical characteristics: The dynamic reference properties are not fixed values, but are dynamically determined via the material database based on the type of printing material (e.g.,PLA / ABS), the first layer thickness (0.1-0.3 mm), and the hot bed temperature (ΔT ± 5 °C) are calculated. At the same time, the operation is continuously optimized by: regular auxiliary testing of the trigger contact probe (once a week); machine learning correction (error convergence rate> 92%) based on historical print success data. The standard gap not only maintains the stability of the calibration reference but also adapts to the needs of different working conditions. Compared with the traditional fixed gap setting method, the first layer printing success rate increases from 70% to 95%.

[0303] In the embodiment of this application, in the ideal state, when the first nozzle (N1) and the second nozzle (N2) are fully aligned, the axial distance between the two on the X / Y plane is the second standard distance. This initial value is calibrated at the factory through high-precision optical measurements (e.g., CCD vision system) and stored in the firmware parameter table. During operation, the thermal expansion compensation algorithm is dynamically adjusted to eliminate the misalignment of the dual nozzles, so that the alignment error between layers during multi-color / multi-material switching is ≤±0.01 mm. The method in this application ensures that the dual nozzle system still maintains ultra-high concentricity during high-speed printing, which is suitable for high-precision, industrial-grade multi-material 3D printing requirements.

[0304] The embodiment of this application specifically specifies the determination method for the Z-direction deviation and the X / Y-direction deviation. In the above embodiment of the application, since the detected distance is the actual value, a calibration value must be set to determine the deviation. In the technical scheme of this application, the calibration value can be flexibly adjusted according to the calibration command, so that the print head assembly can achieve accurate printing in various scenarios.

[0305] In the embodiment of this application, the actual distance between the print head assembly and the printing platform (Z direction) and the relative position between the multi-nozzles (X / Y direction) are precisely measured by an eddy current sensor and compared with the preset standard distance. The three-dimensional spatial deviation is automatically calculated (Z direction deviation = measured distance - standard distance, X / Y direction deviation = measured nozzle pitch - theoretical alignment distance). High-precision dynamic compensation is triggered when the deviation exceeds the threshold.Finally, the nozzle system meets the micrometer-level calibration requirements in terms of Z-axis positioning accuracy and XY plane concentricity (typical value Z ≤ ± 0.05 mm, XY ≤ ± 0.02 mm) to achieve rapid self-calibration of the printing system and stable recovery of the printing state, effectively eliminating multi-dimensional positioning errors caused by thermal deformation, mechanical wear and other factors.

[0306] In one embodiment of the present application, adjusting the position of the target nozzle in the Z direction and the coordinate reference of the target nozzle in the Z direction based on the Z direction compensation parameter according to the Z direction deviation; wherein the Z direction compensation parameter can be determined based on the Z direction deviation and the preset first mapping relationship; and adjusting the position of the print head assembly in the X / Y direction and the coordinate reference of the print head assembly in the X / Y direction based on the X / Y direction compensation parameter; wherein the X / Y direction compensation parameter can be determined based on the X / Y direction deviation and the preset second mapping relationship.

[0307] In the embodiment of this application, after the Z-direction deviation (ΔZ) is detected, the system automatically adjusts the compensation parameter through a preset nonlinear compensation mapping table. The mapping relationship comprehensively considers the nozzle temperature (adjust a gear in the range of 200-300°C every 10°C), the platform material (metal / glass compensation coefficient difference ± 15%), and historical wear data (correction of cumulative printing hours). In the technical scheme of this application, an intelligent nonlinear compensation mechanism automatically converts the detected Z-direction deviation (ΔZ) into high-precision compensation parameters and dynamically corrects multidimensional data such as temperature, material, and mechanical wear to achieve micrometer-level accuracy (error ≤ ± 0.005 mm) for Z-axis positioning and calibration.The entire compensation process is completed quickly within 150 ms, and stability is ensured through closed-loop control and redundancy checking. At the same time, the adaptive database is continuously optimized, significantly improving the flatness of the first print layer and the reliability of long-term calibration, making it particularly suitable for high-precision industrial 3D printing scenarios.

[0308] The preset second mapping relationship in the technical scheme of this application (including nozzle temperature compensation coefficient, mechanical recovery correction factor, and material shrinkage parameters) converts the detected X / Y direction deviation (ΔX / ΔY) into high-precision compensation parameters. In the embodiment of this application, an intelligent dynamic compensation system in the X / Y direction combines the detected nozzle position deviation (ΔX / ΔY) with temperature, material properties, mechanical parameters, and other multiple factors.The optimal compensation parameters are generated in real time through the preset second mapping relationship, and the nozzle position is adjusted with an ultra-high precision of 0.002 mm to stably control the runout error of the multi-nozzle system within ± 0.008 mm, which not only effectively solves the problem of inter-layer misalignment and color boundary blur in multi-material printing, but also continuously optimizes the compensation accuracy through adaptive learning algorithms, improving the geometric accuracy and surface quality of color 3D prints, which is especially suitable for demanding high-precision industrial-grade multi-color printing applications.

[0309] In the embodiment of this application, it is determined that the Z-direction deviation of the target nozzle exceeds the deviation range, and the position information of the target nozzle in the Z direction is adjusted; and, if it is determined that the X / Y-direction deviation of the print head assembly exceeds the deviation range, the position information of the print head assembly in the X / Y direction is adjusted, and then a secondary inspection of the adjusted print head assembly is performed until the Z-direction deviation of the target nozzle is within the deviation range and the position information of the print head assembly in the X / Y direction is within the deviation range. Thus, the adjustment is completed.

[0310] Furthermore, since the print head assembly is preset with a coordinate system, the position adjustment of the print head assembly may cause the coordinates of the print head assembly to deviate. Therefore, the embodiment of this application can further adjust the coordinate reference of the print head assembly. Specifically, when it is determined that the Z-direction deviation of the target nozzle exceeds the deviation range, the position information of the target nozzle in the Z direction may be adjusted first, and the Z-direction coordinate reference of the target nozzle may be further updated after the position information of the target nozzle in the Z direction is adjusted; and when it is determined that the X / Y direction deviation of the print head assembly exceeds the deviation range, the position information of the print head assembly in the X / Y direction may be adjusted first.After the position information in the X / Y direction is adjusted, the coordinate reference in the X / Y direction of the print head array is further updated until the Z-direction deviation of the target nozzle is within the deviation range, the position information in the X / Y direction of the print head array is within the deviation range, and the coordinate system of the print head array is aligned.

[0311] What technical personnel in the field can understand is the following: the position adjustment of the print head assembly and the coordinate reference adjustment of the print head assembly can also be performed separately, for example, the position of the print head assembly can be adjusted separately, and the coordinate reference of the print head assembly can be adjusted separately, or the position adjustment of the print head assembly and the coordinate reference adjustment of the print head assembly can also be performed separately, for example, first adjust the position adjustment of the print head assembly and then adjust the coordinate reference of the print head assembly;or the position adjustment of the print head assembly and the coordinate reference adjustment of the print head assembly can be performed simultaneously, for example, technical personnel in the field can adjust the position and coordinate reference of the print head assembly according to the deviation of the print head assembly, and the print head assembly adjusts the position and coordinate reference of the print head assembly according to the deviation.;

[0312] In the embodiment of this application, the position adjustment of the print head assembly may be a mechanical adjustment, and the coordinate reference adjustment of the print head assembly may be a software adjustment. Nozzle deviation adjustment may be combined with mechanical adjustment and software adjustment. The purpose is to reduce the print head assembly deviation.

[0313] It should be added that the compensation parameters in the embodiment of this application can also be provided for deviation compensation. That is, in the embodiment of this application, the deviation can be reduced not only by position adjustment but also by the mechanical adjustment scheme. When compensating for mechanical adjustment, for example, the motion controller adjusts the Z-axis motor to a microstep pitch of 0.001 mm. At the same time, the mechanical backlash is suppressed in real time by a PID control loop (proportional gain Kp = 0.8, integration time Ti = 2 ms). After the compensation is completed, three redundancy checks (sampling interval 50 ms) are triggered to ensure that the final Z-axis positioning error is ≤ ± 0.005 mm. The compensation parameters are dynamically updated in the adaptive learning database to optimize the efficiency of subsequent calibration.

[0314] With reference to Fig. 8 is Fig. 8 is a schematic representation of the process V of control calibration of a control system of a printer by means of visual analysis, which is provided by the embodiment of the present application; in one embodiment of the present application, the first detection device comprises a first image sensor arranged on the printer body, wherein the controller is provided for:

[0315] Step 801: Controlling the print head assembly to print the calibration pattern in response to the second calibration command.

[0316] The second calibration command is provided in the embodiment of this application to calibrate the position of the print head assembly in the printer. The second calibration command in the embodiment of this application serves the same purpose as the first calibration command in the above embodiment, both for better printing results from the printer. However, the first calibration command is calibrated using the parameters detected by the specific sensor, while the second calibration command in the embodiment of this application is calibrated using the image information collected by the image sensor.

[0317] When the second calibration command is received in the embodiment of this application, the calibration process is started immediately: First, the print head assembly is controlled to print a preset calibration pattern in a cross-grid pattern (line width 0.4 mm, layer height 0.1 mm) in the central area of ​​the printing platform, and the integrated image processing system is synchronously activated to scan the geometric features of the model at a frame rate of 200 frames per second (fps). The geometric features of the model are analyzed in real time by a deep learning algorithm. The line matching and corner distortion rate are analyzed in real time, and within 10 seconds, a compensation matrix with 12 parameters such as the XY-axis expansion ratio and belt feedback is generated. Finally, the nonlinear compensation parameter table of the motion controller is automatically updated.The entire process takes no longer than 30 seconds and without manual intervention the dynamic printing accuracy of the multi-nozzle system is improved to ± 15 µm.

[0318] It is understood that the calibration pattern in the embodiment of this application can be adjusted according to specific scenarios. The calibration patterns are specific geometric structures designed for printer calibration, including high-contrast cross gratings, concentric circles, or step patterns (line width adjustable from 0.2 to 0.6 mm), and the characteristic edges are formed by precisely controlled extrusion. Under normal circumstances, they include orthogonal line segments of the X / Y axis (detection of axial telescopic deviation), a set 45° hypotenuse (measurement of tape return and transmission nonlinearity), and a multi-layer stacked structure (evaluation of Z-axis step consistency). The geometric deformation of the calibration patterns (e.g., line offset ± 5 µm) directly reflects the actual error of the mechanical system and provides a quantitative compensation basis for the visual algorithm.

[0319] Step 802: Controlling the first image sensor to acquire the second image information containing the calibration pattern.

[0320] After the printing of the calibration pattern is completed in the embodiment of this present application, the printer immediately triggers the first image sensor to capture the second image information of the calibration pattern in macro mode: first, 3 × 3 meshed partial area capture (each area has an overlap rate of 15%), then through exposure synthesis to eliminate reflective interference, and then through a GPU-accelerated distortion correction algorithm to eliminate lens deformations, and finally output the image data in the target format.

[0321] Step 803: If the printing deviation determined based on the second image information exceeds the deviation range, adjusting the position of the print head assembly based on the second image information until the printing deviation is within the deviation range.

[0322] In the embodiment of the present application, when the image analysis result of the calibration pattern exceeds the preset deviation threshold, a multi-stage compensation process is automatically triggered: First, the geometric distortion characteristics (such as line offset, angular deviation, etc.) in the image are analyzed by visual algorithms, and a compensation matrix is ​​generated that includes the axial expansion ratio and orthogonality error; then, the matrix is ​​converted into the motion parameter correction amount of the print head assembly, and the X / Y / Z axis position is dynamically adjusted (including microstep pitch, stepper motor belt tension compensation, etc.).); After each adjustment, the verification model is reprinted and a new image is collected for closed-loop verification until the geometric characteristic error of the calibration pattern converges within the allowable range, and finally, the optimized mechanical parameters are locked and the printer calibration configuration file is updated.

[0323] In the embodiment of the present application, the closed-loop visual feedback system realizes intelligent dynamic calibration of the print head assembly position: When image analysis detects that the print deviation exceeds the allowable range, the printer automatically analyzes the deviation characteristics and generates accurate compensation parameters. Iteratively adjusts the nozzle movement parameters and the amount of mechanical compensation, so that the print accuracy quickly converges within the preset standard range. This process not only eliminates systematic deviations caused by mechanical transmission errors and thermal deformation, but also ensures calibration reliability through a closed-loop verification mechanism, ultimately improving the comprehensive positioning accuracy of the multi-axis printing system.

[0324] In one embodiment of the present application, controlling the first nozzle in the printhead assembly to print the first calibration pattern, and controlling the second nozzle in the printhead assembly to print the second calibration pattern; detecting the first calibration pattern and the second calibration pattern by the first image sensor to obtain the second image information; determining the printing deviation of the printhead assembly in the first direction corresponding to the first parallel line segment group in the second image information based on the first parallel line segment group; wherein two parallel lines in the first parallel line segment group are each located in the first calibration pattern and the second calibration pattern.

[0325] The pre-designed geometric patterns (such as parallel lines, intersecting lines, grids, etc.) in the embodiment of this present application are provided to evaluate the printing accuracy and alignment of the nozzle. Among them, the first calibration pattern includes the first line in a group of parallel line segments, and the second calibration pattern includes the second parallel line corresponding to the first calibration pattern, which is provided for comparing the offset between the two. For example, two parallel lines with a theoretical pitch of 0.1 mm, when the actual printing pitch is 0.12 mm, this indicates that there is a deviation of 0.02 mm.

[0326] In the exemplary embodiment of the present application, the first calibration pattern and the second calibration pattern can be the same or different. For example, the first calibration pattern can be a grid, and the second calibration pattern can also be a grid, and the grid sizes are the same. The first calibration pattern and the second calibration pattern each contain a line segment, and the parallel line segment group is composed of these two line segments. In the exemplary embodiment of the present application, the parallel line segments can be easily and quickly identified by deviation.

[0327] In the embodiment of this application, the first nozzle in the printhead assembly is controlled to print the first calibration pattern, and the second nozzle in the printhead assembly is controlled to print the second calibration pattern. The first calibration pattern and the second calibration pattern are captured by the first image sensor to obtain the second image information, wherein a comparison group consisting of two theoretically parallel line segments in the first and second calibration patterns is detected in the second image information. If the two lines are not actually parallel or the spacing does not meet expectations, this indicates an offset or a mechanical fault in the nozzle. By comparing the actual spacing and the theoretical spacing of the two parallel lines in combination with the pixel calibration parameters, this is converted into a physical deviation value.For example, if the line segment printed by the first nozzle is offset to the right and the line segment of the second nozzle is offset to the left, the distance between the two increases and the system calculates the deviation value accordingly.

[0328] In the embodiment of the present application, the dual nozzles alternately print calibration patterns, followed by high-precision images. Based on the acquired image information, a deviation analysis of the parallel line groups is performed, followed by a dynamically calibrated, closed-loop process to achieve high-precision alignment of the print head assembly. This method realizes non-contact, high-precision nozzle alignment calibration, effectively solves the problem of misalignment in multi-nozzle printing systems, significantly improves print quality and consistency, simplifies the calibration process, and improves production efficiency.

[0329] In some embodiments, the calibration pattern comprises a third calibration pattern and a fourth calibration pattern, the method further comprising: printing the third calibration pattern again by controlling the first nozzle of the print head assembly, and printing the fourth calibration pattern by controlling the second nozzle of the print head assembly when the adjustment of the position of the print head assembly is completed; capturing the third calibration pattern and the fourth calibration pattern by the first image sensor to obtain the third image information; determining the printing deviation of the print head assembly in the second direction corresponding to the second parallel line segment group in the third image information based on the second parallel line segment group; wherein the first direction and the second direction are different;Controlling the calibration of the print head assembly to finalize based on the print deviation in the first direction and the print deviation in the second direction.;

[0330] The third calibration pattern and the fourth calibration pattern in the embodiment of this application are pre-designed geometric patterns (such as parallel lines, intersection lines, grids, etc.) for evaluating printing accuracy and nozzle alignment. Among them, the first calibration pattern, the second calibration pattern, the third calibration pattern, and the fourth calibration pattern may be exactly the same, partially the same, or completely different. It is understood that the first calibration pattern, the second calibration pattern, the third calibration pattern, and the fourth calibration pattern are primarily intended for nozzle calibration, and the shape of the first calibration pattern, the second calibration pattern, the third calibration pattern, and the fourth calibration pattern is quickly printed with the print head assembly.

[0331] It is understood that in the embodiment of this application, the first nozzle is provided for printing the first calibration pattern and the third calibration pattern, and the second nozzle is provided for printing the second calibration pattern and the fourth calibration pattern. Typically, the printing material of the first nozzle and the second nozzle, or the sizes of the first and second nozzles, differ, so that at least one property—color, material, or thickness—is different between the first and second calibration patterns. Likewise, at least one property—color, material, or thickness—is different between the third and fourth calibration patterns.

[0332] In the embodiment of this application, the digitized data of the third and fourth calibration patterns acquired by the first image sensor are used to analyze the deviation in the second direction. The printer determines whether the accuracy threshold for the deviation values ​​in the first direction (X-axis) and the second direction (Y-axis) is reached and decides whether to terminate calibration. For example, if the X-axis deviation is ≤0.01 mm and the Y-axis deviation is ≤0.01 mm, the calibration is terminated; otherwise, continue to adjust the nozzle position. Specifically:

[0333] In the embodiment of this application, the first nozzle is controlled to print a first calibration pattern (e.g., a horizontal line segment), and the second nozzle prints a second calibration pattern (a parallel horizontal line segment). Both are captured by the first image sensor to obtain the second image information. Extract the first parallel line segment group in the image, calculate the difference between the actual distance and the theoretical distance in the X-axis direction, and determine the X-axis deviation (e.g., +0.02 mm). Finely adjust the X-axis motor or the print head assembly software coordinate offset according to the deviation value.

[0334] In this embodiment of the application, the first direction is verified: It is confirmed that the X-axis deviation has been corrected to a threshold value (e.g., ±0.005 mm). Then, the secondary calibration (second direction) is further controlled by having the calibrated print head print a third calibration image (e.g., vertical line segments) and a fourth calibration image (parallel vertical line segments). The third image information is obtained by capturing it with the same image sensor. Extract the second parallel line segment group and calculate the Y-axis direction deviation (e.g., -0.015 mm) for multi-dimensional evaluation. If the X-axis deviation is ≤ 0.01 mm and the Y-axis deviation is ≤ 0.01 mm, the calibration is complete. If the deviation in one direction is outside the deviation range, the adjustment process in the corresponding direction is returned.In the embodiment of this application, the target accuracy is approached step by step through dynamic adjustment.

[0335] In the embodiment of this application, stepwise calibration first adjusts the printing deviation of the print head assembly in the first direction (such as the X-axis), and then prints the third and fourth calibration patterns to detect the deviation in the second direction (such as the Y-axis or the oblique direction). The image sensor is configured to acquire parallel line segment group information in various directions to achieve multi-dimensional accurate calibration. This method can not only efficiently identify and correct nozzle misalignment in the orthogonal or specific angular direction, but also dynamically control the calibration termination conditions by comprehensively evaluating the deviation in both directions to ensure that the alignment accuracy of the print head assembly is optimal.This closed-loop calibration mechanism significantly improves the overall alignment accuracy of the multi-nozzle printing system, reduces the number of repeated commissioning operations, avoids multi-dimensional errors that interfere with each other, and adapts to the high-precision requirements of complex printing tasks, ultimately improving the consistency and yield of the printed product.

[0336] In some embodiments, the first detection device further comprises a laser sensor arranged on the printhead assembly and a second image sensor, the method further comprising: emitting a laser by the laser sensor onto the printed calibration pattern; performing an image capture for the calibration pattern irradiated by the laser by the second image sensor to obtain the second image information.

[0337] The multi-sensor system on the printhead assembly is provided as an embodiment of this application for high-precision calibration data acquisition. The first detection device comprises a laser sensor arranged on the printhead assembly and a second image sensor, wherein the laser sensor: emits a structured laser (e.g., a linear laser) and projects it onto the print surface; the second image sensor: a dedicated optical detection module that works in conjunction with the laser sensor. Compared to a single visual inspection in the technical scheme of this application, the addition of laser assistance can improve the detection capability of faint features.

[0338] In the embodiment of this application, the laser sensor immediately emits a line laser after the completion of the printing process to illuminate the first / second calibration pattern. In the embodiment of this application, the width of the laser line is controlled to 50-100 µm, thereby covering the main features of the calibration pattern. Furthermore, the second image sensor captures the shape of a laser line with an exposure time on the microsecond level.

[0339] In the embodiment of this application, the laser test data of the laser sensor differs from the test data of the image sensor. If the laser data differs, the laser data is preferred. Of course, if the laser line is interrupted or offset due to the height difference, the neural network model can be provided in the embodiment of this application to perform information adjustment correction to obtain accurate image information to detect the deviation of the print head assembly.

[0340] In the embodiment of this application, through the cooperation of the laser sensor integrated with the printhead assembly and the second image sensor, the laser is provided to illuminate the calibration pattern, and the second image sensor is combined to capture the reflected image, which can improve the feature detection accuracy of the calibration pattern, especially in low-contrast or complex background conditions. The directional projection of the laser can highlight the edges and geometric features of the calibrated graphics, while the high-resolution capture of the second image sensor further improves the signal-to-noise ratio of the image information and the ability to recover details, allowing for more accurate detection of nozzle position deviation or printing defects.This active optical inspection scheme greatly improves the robustness and adaptability of the calibration system and is particularly suitable for the dynamic calibration requirements of high-precision industrial printers, effectively reducing ambient light interference and improving calibration efficiency.

[0341] In step 803 in one embodiment of this present application, the position of the print head assembly is adjusted based on the second image information until the print deviation is within the deviation range.

[0342] 1. Determining the print information of the print head assembly based on the second image information; wherein the print information comprises: the print height of the target line in the Z direction of the second image information and / or the print length of the target line in the X / Y direction of the second image information;

[0343] 2. Adjusting the position of the print head assembly and the coordinate reference of the print head assembly based on the print deviation corresponding to the print information; wherein the print deviation includes: the deviation between the print height in the Z direction and the theoretical height in the Z direction of the calibration pattern and / or the deviation between the print length in the X / Y direction and the theoretical length in the X / Y direction of the calibration pattern.

[0344] In the embodiment of this application, the image processing algorithm analyzes the second image information and extracts the key geometric features in the calibration pattern: First, the image edge contour of the target lines is detected to calculate their actual print height (layer thickness deviation in the Z direction) and print length (scaling error in the X / Y direction); then, in combination with the preset theoretical dimensions of the calibration pattern, the actual print deviation of the print head assembly in three-dimensional space is quantified; the compensation value of the print head assembly along each coordinate axis is automatically calculated, and the position of the print head assembly is adjusted.Based on this, the system gradually corrects mechanical drive errors and systematic deviations due to thermal deformations by dynamically adjusting the reference coordinate parameters of the print head arrangement, so that ultimately the actual print dimensions fully agree with the theoretical geometric features of the calibration pattern.

[0345] With reference to Fig. 9 is Fig. 9 is a schematic representation of the process VI of control calibration of a printer control system using motion analysis, which is provided by the embodiment of the present application; in one embodiment of the present application, the first detection device comprises a second image sensor arranged on the print head assembly, wherein the controller is provided for:

[0346] Step 901: Control the movement of the printhead assembly in response to the third calibration command.

[0347] When the third calibration command is received in the embodiment of this application, the motion calibration process of the print head assembly is started immediately: First, the nozzle is controlled to scan at a uniform speed along a preset three-dimensional spatial trajectory (including composite motion of the X / Y / Z axes), and the actual position data of each axis is acquired in real time by a high-precision encoder; then, the measured value of the motion trajectory is compared with the theoretical path and analyzed to identify the back gap, stepping error, and other nonlinear deviations in the mechanical transmission system.Finally, based on the dynamically created error compensation table, the interpolation algorithm parameters of the motion controller are automatically corrected, so that the positioning accuracy of the nozzle in actual work reaches the standard to the micrometer level, in particular:;

[0348] Step 902: Controlling the second image sensor to capture the motion video of the print head assembly in a motion state when the print head assembly is in the motion state.

[0349] In the embodiment of this application, when the print head assembly performs motion calibration, the printer synchronously activates the second high-speed image sensor (frame rate ≥ 1000 fps) for dynamic acquisition: The nozzle's characteristic marker points are locked by a preset tracking algorithm, and its spatial trajectory is continuously recorded during the three-axis compound XYZ motion. The timestamp and encoder data are combined to generate a kinematic analysis report (including parameters such as instantaneous velocity, acceleration, and vibration amplitude), providing a dynamic behavior database with millimeter accuracy for subsequent motion control optimization. The entire process terminates automatically after motion calibration is completed and a visual analysis diagram is generated.

[0350] Step 903: If the motion deviation determined from the motion video exceeds the deviation range, the position of the print head assembly is adjusted based on the motion video until the motion deviation is within the deviation range.

[0351] In the embodiment of this application, when the actual trajectory of the print head assembly (such as vibration amplitude, axial displacement, or speed fluctuation) is detected by motion video analysis beyond the preset deviation threshold, the dynamic compensation mechanism is automatically triggered: first, the spatiotemporal coordinates of the feature points in the video image sequence are extracted to construct a three-dimensional motion error model; then, the corresponding compensation parameters are generated according to the type of deviation (such as mechanical resonance or stage misalignment), and the PID control parameters of the servo motor and the motion interpolation algorithm are adjusted in real time;After each adjustment, the calibration motion is repeated and a new video is captured for verification until the nozzle's dynamic motion accuracy (including trajectory smoothness and positioning repeatability) steadily approaches the allowable range. Finally, the motion controller's reference parameter library is updated and a calibration report is generated.

[0352] In the embodiment of this application, nozzle movement accuracy control is realized through dynamic visual feedback. When the third calibration command is executed, the system synchronously drives the nozzle movement and high-speed image acquisition (1000 fps). It analyzes the real-time trajectory deviation (including vibration, offset, and other parameters) in the motion video, automatically generates compensation parameters, and dynamically adjusts the servo control algorithm. This reduces the nozzle positioning error during high-speed movement from the initial ±0.1 mm to ±0.01 mm, and the compensation process is fully automated without manual intervention. This machine vision-based online calibration technology effectively solves the shortcomings of traditional static calibrations that cannot capture dynamic errors and improves the accuracy of printed parts.

[0353] The method in one embodiment of the present application also includes the following:

[0354] Controlling the second image sensor to detect the target coding information in the visual coding plate below the printhead assembly, and setting at least two image frames containing the target coding information as the motion video, wherein the visual coding plate is detachably disposed on the print platform of the printer; wherein the visual coding plate contains at least two pieces of coding information, wherein the target coding information is provided to calibrate the relative position between the printhead assembly and the print platform of the printer.

[0355] In the embodiment of this application, high-precision dynamic calibration is achieved through a removable visual coding plate: As the print head assembly moves, the visual coding plate (including multiple sets of absolute position coding patterns) mounted on the print platform is continuously captured by the second image sensor at a frame rate of 500 fps. The system selects at least two key frames containing different encoded information (interval ≥ 10 ms), extracts the absolute coordinate data on the coding plate (accuracy ± 5 µm) through a decoding algorithm, and combines the correspondence between the timestamp and the nozzle movement trajectory to calculate the three-dimensional relative position deviation of the nozzle and the platform in real time (including Z-axis height and XY plane offset), providing a submicron-level reference for dynamic compensation.The entire process is completed within 200 ms and supports hot-swapping of the encoding plate, enabling quick recalibration in multi-material printing scenarios.

[0356] That the position of the print head assembly is adjusted based on the motion video, still includes: 1. Determining the motion trajectory of the print head assembly based on the target coding information in at least two image frames in the motion video.

[0357] In the embodiment of this application, the acquired continuous image frames (≥2 frames) are coded and identified, and the pixel coordinates of the preset absolute position marker points on the visual encoder plate in each frame are extracted; then, in combination with the physical size parameters of the encoder plate (for example, the known encoding pitch is 0.5 mm) and the camera calibration data (internal parameter matrix and distortion coefficient), the three-dimensional spatial coordinates (X / Y / Z) of the print head assembly relative to the encoder plate are solved by the PnP algorithm; finally, based on timestamps, B-spline curve fitting is performed over the coordinate points of multiple frames to reconstruct the complete six-degree-of-freedom trajectory (including position and attitude angle) of the nozzle during movement.The trajectory reconstruction accuracy reaches ±3 µm at 100 mm / s, providing a highly reliable kinematic database for subsequent deviation analyses.

[0358] 2. Determine the motion deviation of the print head assembly based on the motion trajectory and the standard trajectory corresponding to the third calibration command.

[0359] In the embodiment of this application, the reconstructed actual motion trajectory is spatiotemporally aligned with the standard trajectory preset by the third calibration command (including the theoretical values ​​of three domains, respectively, time-position-velocity), and the dynamic time regularization (DTW) algorithm is provided to eliminate the influence of timing jitter. Then, the three-dimensional position deviation (ΔX, ΔY, ΔZ) and attitude angle offset (ΔRoll, ΔPitch, ΔYaw) at key feature points (such as corners, acceleration and deceleration intervals) and the periodic fluctuation components are calculated. And errors caused by mechanical resonance are extracted by frequency domain analysis. Finally, a composite deviation report including static errors (e.g., backlash) and dynamic errors (e.g.,vibration amplitude) with an accuracy of ± 1 µm, which provides multidimensional data support for motion compensation.

[0360] 3. Adjust the position of the print head assembly and the coordinate reference of the print head assembly based on the motion compensation parameter corresponding to the motion deviation.

[0361] In the embodiment of this application, multi-dimensional compensation parameters are automatically generated based on the motion deviation report, including the X / Y / Z axis position compensation amount (step resolution 0.001 mm), the servo motor dynamic PID gain (Kp = 0.6, Ki = 0.02, Kd = 0.1), and the vibration suppression filter parameters (cutoff frequency 80 Hz). Then, the compensation parameters are fed into the motion controller via the real-time control bus (EtherCAT, period ≤ 1 ms). The controller adjusts the position of the print head assembly according to the compensation amount and the print head assembly coordinate reference, completing the dynamic loading of all parameters before the next motion cycle. Finally, a verifiable trajectory scan is triggered to confirm the compensation effect through secondary measurements.

[0362] In the technical scheme of this application, the calibration of the nozzle motion trajectory at the micrometer level is realized by dynamic tracking of the visual encoder plate: the printer reconstructs the three-dimensional motion trajectory of the nozzle by decoding the absolute position encoding information in continuous images and compares it with the standard trajectory in real time to automatically calculate the motion deviation including axial displacement, speed fluctuation, and other parameters; On this basis, the generated compensation parameters dynamically correct the servo control parameters (such as PID gain and step microstep pitch), so that the deviation between the actual motion trajectory and the theoretical path is reduced from the initial ± 50 µm to ± 2 µm, and the compensation response time is less than 100 ms.This closed-loop calibration method based on absolute coding not only overcomes the errors of traditional relative coding, which easily lead to accumulating errors, but also adapts to the rapid recalibration requirements of various printing platforms (e.g., high-temperature heated beds or flexible substrates).

[0363] The embodiment of the present application discloses a printer comprising a memory and a processor, wherein the memory contains a computer program executable on the processor, wherein the processor responds to operation of the control system when executing the computer program.

[0364] It should be noted that Fig. 10 is a schematic diagram of the hardware unit of a printer according to an embodiment of the present application. As in Fig.10, the hardware unit of the printer 150 comprises: a processor 151, a communication interface 152, a memory 153 and a print head assembly 154, wherein:

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

[0366] The communication interface 152 enables the printer 150 to communicate with other terminals or servers over the network.

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

[0368] It should be noted at this point that the description of the above-mentioned storage media and device embodiments is similar to the description of the previously mentioned system embodiments and has comparable advantageous effects as the system embodiments. Regarding technical details not disclosed in the embodiments of the storage media and devices of this application, reference is made to the description of the system embodiments of this application, and these should be understood accordingly.

[0369] It is to be understood that the terms "an embodiment" or "the embodiment" mentioned throughout the text of the instructions for use refer to specific features, structures, or characteristics associated with the embodiment that are included in at least one embodiment of this application. Therefore, the terms "in an embodiment" or "in the embodiment" used throughout the description do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It is to be understood that in the various embodiments of this application, the order in which the recited methods are numbered does not imply the order in which they are performed.The order of execution of the methods should be determined based on their function and internal logic and should not represent any limitation on the sequence of implementation of the embodiments of this application. The aforementioned embodiment numbers serve solely for descriptive purposes and do not represent an evaluation of the advantages or disadvantages of the embodiments.

[0370] The embodiments described above are merely illustrative of the present application. However, the scope of this application is not limited thereto. Any modifications or substitutions that can be easily understood by those skilled in the relevant technical field in light of the disclosed technical content of this application are also included within the scope of this application. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 202510829485.3

[0001] CN 202510284203.6

[0001]

Claims

[1] Control system of a printer, characterized by that the control system comprises a controller, the controller being intended to: Controlling a first detection device for detecting first test information of a printhead arrangement of the printer; wherein the printhead arrangement comprises a first nozzle and a second nozzle; wherein the first test information serves or is provided for determining a position of the first nozzle and / or a position of the second nozzle; Performing at least one calibration of the printhead assembly based on the first test information, wherein the calibration comprises: adjusting a position of the printhead assembly based on a deviation of the printhead assembly if the deviation of the printhead assembly exceeds a preset deviation range; wherein the deviation of the printhead assembly is determinable based on the position of the first nozzle and / or the position of the second nozzle; Controlling the first detection device to detect a second test information of the print head arrangement after calibration; and Put the printer into a ready state or restore a print job if the second test information indicates that the print head alignment deviation is within the preset deviation range. [2] Control system according to claim 1, characterized by that the first test information is a first image information, whereby the control is also provided: Performing feature extraction based on the first image information to obtain a position of a target nozzle and calibration point information of the target nozzle; wherein the target nozzle comprises the first nozzle and / or the second nozzle; Determining a deviation according to the printhead arrangement based on the position of the target nozzle and the calibration point information of the target nozzle; wherein the deviation according to the printhead arrangement comprises a deviation of the first nozzle and / or a deviation of the second nozzle, wherein the deviation of the first nozzle is a deviation between the position of the first nozzle and the calibration point information of the first nozzle; wherein the deviation of the second nozzle is a deviation between the position of the second nozzle and the calibration point information of the second nozzle. [3] Control system according to claim 2, characterized by that the position of the target nozzle is a three-dimensional position; wherein the feature extraction characterizes an extraction of a feature of the first test information based on one of the template matching, edge detection and deep learning algorithms to obtain the three-dimensional position of the target nozzle and the calibration point information of the target nozzle. [4] Control system according to claim 3, characterized by that the control is also intended to: Adjusting the position of the print head assembly based on a compensation parameter corresponding to the deviation of the print head assembly; Updating a print head array coordinate reference when adjusting the print head array position is completed; wherein the compensation parameter of the print head arrangement can be determined based on a deviation of the center of the target nozzle, wherein the deviation of the center of the target nozzle can be determined based on the three-dimensional position of the target nozzle and the calibration point information of the target nozzle. [5] Control system according to one of the preceding claims, characterized by that the control is also intended to: Controlling the print head arrangement to print an initial print pattern; Correcting a print path of the print head assembly and aligning the first nozzle and the second nozzle in the print head assembly due to a dimensional deviation of the initial print pattern. [6] Control system according to one of the preceding claims, characterized by , that: the preset deviation range can be set based on at least one of a printing accuracy of the printer, a sensitivity of the first detecting device, and an accuracy of the first detecting device. [7] Control system according to one of the preceding claims, characterized by that if the second test information indicates that the deviation according to the print head arrangement is not within the preset deviation range, the control is still provided to: Controlling the first detection device to detect a next first test information of the print head arrangement; Performing at least one calibration of the printhead assembly based on the next first test information. [8] Control system according to one of the preceding claims, characterized by that the control is also intended to: Controlling the first detection device to detect third test information of a working nozzle in response to detecting a nozzle change command; wherein the working nozzle comprises the first nozzle or the second nozzle; Changing another nozzle to the working nozzle; Controlling the first detection device to detect a fourth test information of the working nozzle; Performing at least one calibration of the working nozzle based on the third test information and the fourth test information. [9] Control system according to claim 8, characterized by that the control is also intended to: When the nozzle switching command specifies to switch the first nozzle to the second nozzle, the print head alignment deviation is a difference between a deviation of the center of the second nozzle and a deviation of the center of the first nozzle. [10] Control system according to claim 8 or 9, characterized bythat the control is also intended to: Perform a calibration of the working nozzle based on the third test information and the fourth test information Controlling the first detection device to detect a next fourth test information of the working nozzle; Put the printer into standby mode or restore a print job if the next fourth test information indicates that a deviation corresponding to the working nozzle is within the preset deviation range. [11] Control system according to claim 10, characterized by that if the fourth test information indicates that the deviation according to the working nozzle is not within the preset deviation range, the control is still provided to: Perform at least one calibration of the working nozzle based on the third test information and the next fourth test information. [12] Control system according to one of the preceding claims, characterized by , that: the first detection device comprises at least one of a LiDAR camera, a stereo camera, a laser sensor, an infrared sensor, and an image acquisition card; the first test information comprises at least one of image information, laser data, an infrared signal and an ultrasonic signal. [13] Control system according to one of the preceding claims, characterized by that the control is also intended to: Controlling the printhead arrangement of the printer to print a target outer wall set of a three-dimensional model, the three-dimensional model comprising a plurality of outer wall sets and fill sets corresponding to the outer wall sets, the target outer wall set being one of the plurality of outer wall sets, the target outer wall set comprising at least two outer wall layers, each of the fill sets comprising one or more fill layers; and Controlling the print head arrangement to print a target fill set corresponding to the target outer wall set, wherein a total height of the one or more fill layers of the target fill set corresponds to a total height of the at least two outer wall layers of the target outer wall set, wherein the number of layers included in the target fill set is less than the number of layers included in the target outer wall set. [14] Control system of a printer, characterized bythat the control system comprises a controller, the controller being intended to: Controlling a distance sensor of a first detection device to detect first test information of a printhead assembly of the printer in response to a first calibration command, wherein the printhead assembly comprises a first nozzle and a second nozzle; wherein the first test information comprises a first distance in the Z direction between a target nozzle of the printhead assembly and a print platform of the printer and / or a first distance in the X / Y direction between the first nozzle and the second nozzle of the printhead assembly; wherein the target nozzle comprises the first nozzle and / or the second nozzle; Performing at least one calibration of the printhead assembly based on the first test information, comprising: adjusting a position of the printhead assembly in the Z direction based on a Z direction deviation corresponding to the first distance in the Z direction if the Z direction deviation exceeds a preset Z direction deviation range; and / or adjusting a position of the printhead assembly in the X / Y direction based on an X / Y direction deviation corresponding to the first distance in the X / Y direction if the X / Y direction deviation exceeds a preset X / Y direction deviation range; Controlling the distance sensor of the first detection device to detect a second test information of the print head assembly after calibration, wherein the second test information comprises a second distance in the Z direction between the target nozzle of the print head assembly and the print platform of the printer and / or a second distance in the X / Y direction between the first nozzle and the second nozzle of the print head assembly; Putting the printer into a standby state or restoring a print job if the Z-direction deviation corresponding to the second distance in the Z direction is within the preset Z-direction deviation range and the X / Y-direction deviation corresponding to the second distance in the X / Y direction is within the preset X / Y-direction deviation range. [15] Control system according to claim 14, characterized bythat the distance sensor comprises a first eddy current sensor arranged on the print head assembly and a second eddy current sensor arranged on the print platform, wherein the control is further provided: Detecting the first distance in the Z direction between the target nozzle and the print platform by the first eddy current sensor if the first calibration command is to calibrate the print head assembly in the Z direction; or Detecting the first distance in the X / Y direction between the first nozzle and the second nozzle by the second eddy current sensor if the first calibration command is to calibrate the print head assembly in the X / Y direction. [16] Control system according to claim 14 or 15, characterized by , that: the Z-direction deviation is a deviation between the first distance in the Z direction and a first standard distance according to the first calibration command; wherein the X / Y direction deviation is a deviation between the first distance in the X / Y direction and a second standard distance, the second standard distance being a distance between the first nozzle and the second nozzle aligned in the X / Y direction. [17] Control system according to one of claims 14 to 16, characterized by that the control is also intended to: Adjusting a position of the target nozzle in the Z direction and a coordinate reference of the target nozzle in the Z direction based on a Z direction compensation parameter corresponding to the Z direction deviation; wherein the Z direction compensation parameter can be determined based on the Z direction deviation and a preset first mapping relationship; and Adjusting the position of the print head assembly in the X / Y direction and a coordinate reference of the print head assembly in the X / Y direction based on the X / Y direction compensation parameter according to the X / Y direction deviation, wherein the X / Y direction compensation parameter can be determined based on the X / Y direction deviation and a preset second mapping relationship. [18] Control system according to one of claims 14 to 17, characterized by that the first detection device comprises a first image sensor arranged on the printer body, wherein the control is further provided: controlling the printhead assembly to print a calibration pattern in response to a second calibration command; controlling the first image sensor to acquire second image information containing the calibration pattern; If a print deviation determined based on the second image information exceeds a deviation range, adjusting the position of the print head assembly based on the second image information until the print deviation is within the deviation range. [19] Control system according to claim 18, characterized by that the calibration pattern comprises a first calibration pattern and a second calibration pattern; wherein the control is further provided: controlling the first nozzle in the printhead assembly to print the first calibration pattern, and controlling the second nozzle in the printhead assembly to print the second calibration pattern; detecting the first calibration pattern and the second calibration pattern by the first image sensor to obtain the second image information; Determining a printing deviation of the print head assembly in a first direction corresponding to a first parallel line segment group in the second image information based on the first parallel line segment group; wherein two parallel lines in the first parallel line segment group are located in the first calibration pattern and the second calibration pattern, respectively. [20] Control system according to claim 19, characterized by that the calibration pattern further comprises a third calibration pattern and a fourth calibration pattern; wherein the control is further provided: Printing the third calibration pattern and the fourth calibration pattern again through the calibrated print head assembly when the adjustment of the position of the print head assembly is completed; detecting the printed third calibration pattern and the printed fourth calibration pattern by the first image sensor to obtain third image information; Determining a printing deviation of the print head arrangement in a second direction corresponding to a second parallel line segment group in the third image information based on the second parallel line segment group; wherein the first direction and the second direction are different; Controlling the calibration of the print head assembly at the final stage based on the print deviation in the first direction and the print deviation in the second direction. [21] Control system according to one of claims 18 to 20, characterized by that the first detection device further comprises a laser sensor arranged on the print head arrangement and a second image sensor, wherein the control is further provided: Emitting a laser through the laser sensor onto the printed calibration pattern; Performing an image acquisition for the calibration pattern irradiated by the laser by the second image sensor to obtain the second image information. [22] Control system according to one of claims 18 to 21, characterized by that the control is also intended to: Determining print information of the print head arrangement based on the second image information; wherein the print information comprises a print height of a target line in the Z direction in the second image information and / or a print length of the target line in the X / Y direction in the second image information; Adjusting the position of the print head assembly and the coordinate reference of the print head assembly based on the print deviation corresponding to the print information; wherein the print deviation includes a deviation between the print height in the Z direction and a theoretical height in the Z direction of the calibration pattern and / or a deviation between the print length in the X / Y direction and a theoretical length in the X / Y direction of the calibration pattern. [23] Control system according to one of claims 14 to 22, characterized by that the first detection device comprises a second image sensor arranged on the print head arrangement, wherein the control is provided for: controlling movement of the printhead assembly in response to a third calibration command; controlling the second image sensor to capture a motion video of the print head assembly in a motion state when the print head assembly is in the motion state; If a motion deviation determined on the motion video exceeds a deviation range, adjust the position of the print head assembly based on the motion video until the motion deviation is within the deviation range. [24] Control system according to claim 23, characterized by that the control is also intended to: Controlling the second image sensor to detect target coding information in a visual coding plate below the printhead assembly, and setting at least two image frames containing the target coding information as the motion video, wherein the visual coding plate is detachably disposed on the print platform of the printer; wherein the visual coding plate contains at least two pieces of coding information, wherein the target coding information is provided to calibrate a relative position between the printhead assembly and the print platform of the printer. [25] Control system according to claim 24, characterized by that the control is also intended to: Determining a motion trajectory of the print head assembly based on the target encoding information in at least two image frames in the motion video; Determining the movement deviation of the print head assembly based on the movement trajectory and a standard trajectory corresponding to the third calibration command; Adjusting the print head assembly position and print head assembly coordinate reference based on a motion compensation parameter corresponding to the motion deviation. [26] Printer, characterized by that the printer comprises a first detection device, a printhead assembly, a processor and a memory, wherein the printhead assembly comprises a first nozzle and a second nozzle; wherein the memory contains a computer program executable on the processor, wherein the processor, upon execution of the computer program, controls the print head assembly to perform the following operations in response to a control system of the printer: Controlling the first detection device to detect first test information of the print head arrangement of the printer; wherein the first test information serves or is provided for determining a position of the first nozzle and / or a position of the second nozzle; Performing at least one calibration of the printhead assembly based on the first test information, the calibration comprising: adjusting a position of the printhead assembly based on a deviation of the printhead assembly if the deviation of the printhead assembly exceeds a preset deviation range; wherein the deviation of the printhead assembly can be determined based on the position of the first nozzle and / or the position of the second nozzle; Controlling the first detection device to detect a second test information of the print head arrangement after calibration; and Put the printer into a ready state or restore a print job if the second test information indicates that the print head alignment deviation is within the preset deviation range. [27] Printer according to claim 26, characterized by that the printer is also designed to: Controlling a distance sensor of the first detection device to detect the first test information of the printhead assembly of the printer in response to a first calibration command, wherein the first test information comprises a first distance in the Z direction between a target nozzle of the printhead assembly and a print platform of the printer and / or a first distance in the X / Y direction between the first nozzle and the second nozzle of the printhead assembly; wherein the target nozzle comprises the first nozzle and / or the second nozzle; Performing at least one calibration of the printhead assembly based on the first test information, comprising: adjusting a position of the printhead assembly in the Z direction based on a Z direction deviation corresponding to the first distance in the Z direction if the Z direction deviation exceeds a preset Z direction deviation range; and / or adjusting a position of the printhead assembly in the X / Y direction based on an X / Y direction deviation corresponding to the first distance in the X / Y direction if the X / Y direction deviation exceeds a preset X / Y direction deviation range; Controlling the distance sensor of the first detection device to detect a second test information of the print head assembly after calibration, wherein the second test information comprises a second distance in the Z direction between the target nozzle of the print head assembly and the print platform of the printer and / or a second distance in the X / Y direction between the first nozzle and the second nozzle of the print head assembly; Putting the printer into a standby state or restoring a print job if the Z-direction deviation corresponding to the second distance in the Z direction is within the preset Z-direction deviation range and the X / Y-direction deviation corresponding to the second distance in the X / Y direction is within the preset X / Y-direction deviation range. [28] A printer according to claim 26 or 7, characterized bythat one of the first and second nozzles is stationary, while the other nozzle moves relative to the stationary nozzle in a direction perpendicular to the horizontal plane. [29] Printer according to one of claims 26 to 28, characterized by that one of the first and second nozzles can print components of the three-dimensional model, while the other nozzle can print the support components of the three-dimensional model. [30] Printer according to one of claims 26 to 29, characterized by that the printer comprises a fine adjustment mechanism, wherein the fine adjustment mechanism is connected to the print head assembly, wherein the printer is further provided: Adjusting the print head arrangement using the fine adjustment mechanism. [31] Printer according to one of claims 26 to 30, characterized by that the printer is also designed to: Printing a target outer wall set of the three-dimensional model by the print head assembly, wherein the three-dimensional model comprises a plurality of outer wall sets and the fill sets corresponding to the outer wall sets, wherein the target outer wall set is one of the plurality of outer wall sets, wherein the target outer wall set comprises at least two outer wall layers, each of the fill sets comprising one or more fill layers; and Printing a target fill set corresponding to the target outer wall set by the print head assembly, wherein a total height of the one or more fill layers of the target fill set corresponds to a total height of the at least two outer wall layers of the target outer wall set, wherein the number of layers included in the target fill set is less than the number of layers included in the target outer wall set.

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