Task management method for 3D printer, and 3D printing system

Abstract

Disclosed in the present application are a task management method for a 3D printer, and a 3D printing system. The method comprises: acquiring task information of a task to be migrated, wherein said task is at least one printing task which is not completed when a faulty printer in a three-dimensional printing scenario sends an anomaly signal; on the basis of the task information and a target migration strategy, determining a target printer from among a plurality of candidate printers, wherein the target migration strategy is used for matching the target printer for said task; and sending the task information to the target printer, and adding said task to a task sequence of the target printer. The present application solves the technical problems in the related art of low efficiency, high costs and high risk of printing production task delay of a solution that depends on manpower for performing task migration processing when a printing task is abnormal.

Description

Task management method for 3D printer and 3D printing system

[0001] Related applications

[0002] This disclosure claims priority to Chinese patent application No. 2024100250299, filed with the Patent Office of China on January 5, 2024, with invention number “Task management method and system for 3D printer”, and Chinese patent application No. 2024101628933, filed with the Patent Office of China on February 5, 2024, with invention number “Printer control method and 3D printer”, the entire contents of which are incorporated into this disclosure by reference. Technical Field

[0003] The present application relates to the field of three-dimensional printing technology, and more specifically, to a task management method for a 3D printer and a 3D printing system. Background Art

[0004] Currently, most three-dimensional (3D) printers support remote monitoring and management of print jobs through IoT technologies. These capabilities include remote monitoring of printer sensor signals, remote issuance and management of print jobs, and remote tracking of print progress. However, only some 3D printers support continuous production. Continuous production involves the 3D printer automatically executing continuous production based on multiple slice files and a priority queue until all queued jobs are completed.

[0005] In remotely managed 3D printing application scenarios, it is inevitable that the 3D printer may encounter an anomaly during continuous production and be unable to continue production. At this time, the remaining tasks need to be migrated to other printers to continue production, so as to reduce the risk of production delivery delays caused by printer anomalies.

[0006] However, the 3D printer remote management systems offered in related technologies lack a mechanism for automatically migrating tasks when printer anomalies occur. Consequently, production anomalies typically require manual processing, where the task on the original printer is manually deleted and the remote management system is used to re-send the same slices to other, functioning printers.

[0007] The defects of the printing exception handling solution provided in the above-mentioned related technologies are: the time interval from the abnormal shutdown of the printer to the manual intervention is long, and the printer is more difficult to handle the exception in a timely manner when it is unattended at night, which can easily lead to production delays; relying on manual processing will introduce work handover and collaborative processing between multiple planners. For example, when the operator who sets up the 3D printing production queue is not the same person as the operator who discovers the exception and intervenes, the operator who intervenes will re-issue the task without understanding the task situation, printer status, remaining material quantity, etc., which may lead to irrational task reallocation.

[0008] As can be seen from the above, how to remotely and automatically handle production anomalies in 3D printing continuous production tasks has become one of the important issues in the relevant technical field. In response to the above problems, no effective solution has been proposed yet. Summary of the Invention

[0009] The embodiments of the present application provide a task management method and a 3D printing system for a 3D printer, so as to at least solve the technical problems that the related art relies on manual task migration processing when the printing task is abnormal, which has low efficiency, high cost and high risk of delay in printing production tasks.

[0010] According to one aspect of an embodiment of the present application, a task management method for a 3D printer is provided, comprising: obtaining task information of a task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when a faulty printer in a three-dimensional printing scenario sends an abnormal signal; determining a target printer from a plurality of candidate printers based on the task information and a target migration strategy, wherein the target migration strategy is used to match a target printer for the task to be migrated; sending the task information to the target printer, and adding the task to be migrated to the task sequence of the target printer.

[0011] In some embodiments, obtaining task information of tasks to be migrated includes: responding to an abnormal signal emitted by a faulty printer, determining the tasks to be migrated on the faulty printer, and obtaining task information, wherein the abnormal signal is triggered by an abnormal event in a three-dimensional printing scenario, and the abnormal event includes: printer device failure, printer zeroing abnormality, and insufficient printing material.

[0012] In some embodiments, determining a target printer from a plurality of candidate printers based on task information and a target migration strategy includes: screening at least one pending printer from a plurality of candidate printers, wherein the pending printer is a printer among the plurality of candidate printers that is online and supports a continuous printing function; determining a target printer from the at least one pending printer based on task information and a target migration strategy.

[0013] In some embodiments, determining the target printer from at least one pending printer based on task information and a target migration strategy includes: traversing at least one print task in the tasks to be migrated; for the current print task in the traversal, determining the task data of the current print task from the task information, and determining the target printer corresponding to the current print task from at least one pending printer based on the task data and the target migration strategy.

[0014] In some embodiments, the task data includes at least task association information, printer configuration information, estimated material usage, and estimated printing time.

[0015] In some embodiments, based on task data and target migration strategy, determining the target printer corresponding to the current printing task from at least one pending printer includes: when it is determined according to task association information that the current printing task is not associated with other tasks or it is determined according to printer configuration information that the target allocation constraint is not turned on, then determining the target printer corresponding to the current printing task from multiple pending printers based on the estimated material usage of the current printing task and the estimated total printing time and remaining amount of printing materials of the remaining tasks on at least one pending printer, wherein the target allocation constraint is used to limit the allocation of at least one printing task in the same task to be migrated to the same printer.

[0016] In some embodiments, based on the estimated material usage of the current printing task and the estimated total printing time and remaining printing material of the remaining tasks on at least one pending printer, determining the target printer corresponding to the current printing task from at least one pending printer includes: sorting at least one pending printer according to the estimated total printing time to obtain a sorting result; filtering out printers whose remaining printing material is greater than the estimated material usage from at least one pending printer to obtain a filtering result; and based on the filtering result, determining the printer with the shortest estimated total printing time in the sorting result as the target printer corresponding to the current printing task.

[0017] In some embodiments, based on task data and target migration strategy, determining the target printer corresponding to the current printing task from at least one pending printer includes: when it is determined according to printer configuration information that the target allocation constraint is turned on, determining other tasks associated with the current printing task according to task association information in the task data; and determining the printer containing other tasks in at least one pending printer as the target printer corresponding to the current printing task.

[0018] In some embodiments, the task management method further includes: after adding the task to be migrated to the task sequence of the target printer, resetting the estimated total printing time of the target printer according to the estimated printing time corresponding to the task to be migrated.

[0019] In some embodiments, the task management method further includes: after determining the target printer from the plurality of candidate printers, deleting the task information from the faulty printer.

[0020] In some embodiments, the abnormal event includes at least one of: printer device failure, printer zeroing abnormality, and insufficient printing materials.

[0021] In some embodiments, the 3D printer includes a material tray and a forming platform. The material tray is used to hold printing materials, and the forming platform is used to attach three-dimensional objects. The faulty printer in the three-dimensional printing scenario sends an abnormal signal, including determining whether there is an abnormality between the material tray and the forming platform. If there is an abnormality, the abnormal signal is sent.

[0022] In some embodiments, the above-mentioned task management method also includes: obtaining a data queue for manufacturing multiple groups of three-dimensional objects, wherein the data queue contains at least multiple groups of printing data corresponding one-to-one to the multiple groups of three-dimensional objects; manufacturing multiple groups of three-dimensional objects in sequence according to the data queue; judging whether there is an abnormality between the material tray and the forming platform; in response to the abnormality between the material tray and the forming platform, determining the task information of the task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when the faulty printer in the three-dimensional printing scenario sends an abnormality signal indicating that an abnormality occurs between the material tray and the forming platform.

[0023] In some embodiments, the step of determining whether there is an abnormality between the material tray and the forming platform includes at least one of the following methods: determining whether the three-dimensional object on the forming platform has fallen, and if so, determining that there is an abnormality between the material tray and the forming platform; determining whether there is foreign matter in the material tray, and if so, determining that there is an abnormality between the material tray and the forming platform.

[0024] In some embodiments, the step of determining whether the three-dimensional object on the forming platform has fallen includes: obtaining the separation force between the solidified layer and the bottom of the material tray during the rising process of the forming platform; and determining whether the three-dimensional object on the forming platform has fallen based on the changing state of the separation force.

[0025] In some embodiments, the step of judging whether the three-dimensional object on the forming platform has fallen according to the changing state of the separation force includes: establishing a correspondence between the separation force and the characteristics of the cross-section of the three-dimensional object by using one of mathematical modeling, simulation, and empirical formulas; obtaining a preset value of the separation force corresponding to the peeling of the solidified layer according to the correspondence between the separation force and the characteristics of the cross-section of the three-dimensional object; and judging that the three-dimensional object on the forming platform has fallen when the difference between the actual separation force between the solidified layer and the bottom of the material tray and the preset value of the separation force is outside a preset range.

[0026] In some embodiments, the step of determining whether the three-dimensional object on the building platform has fallen based on the change state of the separation force includes: determining that the three-dimensional object on the building platform has fallen when the percentage by which the separation force of the current solidified layer decreases relative to the separation force of the previous solidified layer exceeds a preset percentage; and / or determining that the three-dimensional object on the building platform has fallen when the change in the separation force obtained per unit time or per unit sampling value exceeds a preset change threshold.

[0027] In some embodiments, the 3D printer also includes a photoelectric sensor, and the step of determining whether the three-dimensional object on the building platform has fallen includes: controlling the photoelectric sensor to scan the printing area of ​​the building platform to obtain contour information of the current three-dimensional object on the building platform; and determining whether the three-dimensional object on the building platform has fallen based on a comparison result between the contour information of the current three-dimensional object on the building platform and the model contour corresponding to the printing data.

[0028] In some embodiments, the 3D printer also includes an image sensor, and the step of determining whether the three-dimensional object on the building platform has fallen includes: controlling the image sensor to collect contour information of the current three-dimensional object on the building platform; and determining whether the three-dimensional object on the building platform has fallen based on a comparison result between the contour information of the current three-dimensional object on the building platform and the model contour corresponding to the printing data.

[0029] In some embodiments, the 3D printer further includes a pickup mechanism, which is used to separate the three-dimensional object on the building platform from the building platform; the step of determining whether the three-dimensional object on the building platform has fallen includes: obtaining the driving force and / or power of the pickup mechanism during the process of the pickup mechanism picking up the object; and determining whether the three-dimensional object on the building platform has fallen based on the driving force and / or power of the pickup mechanism.

[0030] In some embodiments, the step of determining whether there is foreign matter in the material tray includes: obtaining the actual consumption of printing materials for a printing behavior; comparing the actual consumption of printing materials with a preset consumption, and determining that there is foreign matter in the material tray when the difference between the actual consumption of printing materials and the preset consumption is outside a preset range; wherein the preset consumption is obtained based on printing data, or based on the volume of a three-dimensional graphic corresponding to a printing behavior, or based on the volume of a three-dimensional graphic corresponding to a printing behavior and the density of the printing material.

[0031] In some embodiments, the step of obtaining the actual consumption of printing material for a printing behavior includes: determining the actual consumption of printing material for a printing behavior based on the change in the liquid level of the printing material in the material tray before and after the printing behavior; or, determining the actual consumption of printing material for a printing behavior based on the change in the weight of the material tray before and after the printing behavior; or, in the case where the 3D printer includes an automatic liquid adding mechanism, determining the actual consumption of printing material for a printing behavior based on the liquid adding situation of the automatic liquid adding mechanism during the printing behavior.

[0032] In some embodiments, the step of performing a printing job according to a data queue includes controlling the forming platform to move toward the bottom of the material tray to a target position for printing; the step of determining whether there is foreign matter in the material tray includes: when the forming platform cannot move to the target position due to insufficient displacement distance during the process of moving to the target position, determining that there is foreign matter in the material tray.

[0033] In some embodiments, the 3D printer further includes an image sensor, and the step of determining whether there is foreign matter in the material tray includes: controlling the image sensor to collect image information in the material tray; and determining whether there is foreign matter in the material tray based on the image information in the material tray.

[0034] In some embodiments, the 3D printer also includes an ultrasonic detection component; the step of determining whether there is foreign matter in the material tray includes: according to a pre-configured detection strategy, causing the ultrasonic detection component to form an ultrasonic detection beam in the material tray; and determining whether there is foreign matter in the material tray based on the echo delay time and / or echo intensity information of the ultrasonic detection beam.

[0035] In some embodiments, the detection strategy is configured as follows: after the 3D printer prints a preset target number of layers, executing an ultrasonic detection instruction to enable the ultrasonic detection component to form an ultrasonic detection beam in the material tray; or, after the 3D printer is started, controlling the ultrasonic detection component to continuously form an ultrasonic detection beam.

[0036] In some embodiments, the step of determining whether there is an abnormality between the material tray and the forming platform is performed at least before printing according to each set of printing data or after printing of each set of printing data is completed.

[0037] In some embodiments, the above-mentioned task management method further includes: outputting prompt information and / or alarm information when it is determined that an abnormality exists.

[0038] Another aspect of the present application provides a 3D printing system, comprising: at least two 3D printers configured to execute printing tasks; a processing unit configured to: obtain task information of a task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when a faulty printer in a three-dimensional printing scenario sends an abnormal signal; determine a target printer from at least two 3D printers based on the task information and a target migration strategy, wherein the target migration strategy is used to match a target printer for the task to be migrated; send the task information to the target printer, and add the task to be migrated to the task sequence of the target printer.

[0039] In some embodiments, determining a target printer from at least two 3D printers based on task information and a target migration strategy includes: screening at least one pending printer from the at least two 3D printers, wherein the pending printer is a printer that is online and supports a continuous printing function among the at least two 3D printers; determining the target printer from the at least one pending printer based on the task information and the target migration strategy.

[0040] In some embodiments, based on task information and target migration strategy, a target printer is determined from at least one pending printer, including: traversing at least one print task in the tasks to be migrated; for the current print task in the traversal, task data of the current print task is determined from the task information, and based on the task data and target migration strategy, the target printer corresponding to the current print task is determined from at least one pending printer; wherein the task data includes at least task association information, printer configuration information, estimated material usage and estimated printing time.

[0041] In some embodiments, based on task data and target migration strategy, the target printer corresponding to the current printing task is determined from at least one pending printer, including: when it is determined according to task association information that the current printing task is not associated with other tasks, or it is determined according to printer configuration information that the target allocation constraint is not enabled, then based on the estimated material usage of the current printing task and the estimated total printing time and the remaining amount of printing materials of the remaining tasks on at least one pending printer, the target printer corresponding to the current printing task is determined from at least one pending printer, wherein the target allocation constraint is used to limit at least one printing task in the same task to be migrated to the same printer; or, when it is determined according to printer configuration information that the target allocation constraint is enabled, then based on the task association information in the task data, other tasks associated with the current printing task are determined; and the printer containing other tasks in at least one pending printer is determined as the target printer corresponding to the current printing task.

[0042] In some embodiments, based on the estimated material usage of the current printing task and the estimated total printing time and remaining printing material of the remaining tasks on at least one pending printer, the target printer corresponding to the current printing task is determined from at least one pending printer, including: sorting at least one pending printer according to the estimated total printing time to obtain a sorting result; filtering out printers with remaining printing materials greater than the estimated material usage from at least one pending printer to obtain a filtering result; based on the filtering result, determining the printer with the shortest estimated total printing time in the sorting result as the target printer corresponding to the current printing task.

[0043] In some embodiments, obtaining task information of tasks to be migrated includes: responding to an abnormal signal emitted by a faulty printer, determining the tasks to be migrated on the faulty printer, and obtaining task information, wherein the abnormal signal is triggered by an abnormal event in a three-dimensional printing scenario, and the abnormal event includes at least one of: printer device failure, printer zeroing abnormality, and insufficient printing material.

[0044] In some embodiments, the 3D printer includes a material tray and a forming platform, the material tray is used to hold printing materials, and the forming platform is used to attach three-dimensional objects. The abnormal signal emitted by the faulty printer in the three-dimensional printing scenario includes whether there is an abnormality between the material tray and the forming platform.

[0045] In some embodiments, the processing unit is configured to: obtain a data queue for manufacturing multiple groups of three-dimensional objects, wherein the data queue contains at least multiple groups of printing data corresponding one-to-one to the multiple groups of three-dimensional objects; manufacture the multiple groups of three-dimensional objects in sequence according to the data queue; determine whether there is an abnormality between the material tray and the forming platform; in response to the abnormality between the material tray and the forming platform, determine the task information of the task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when the faulty printer in the three-dimensional printing scenario sends an abnormality signal indicating that an abnormality occurs between the material tray and the forming platform.

[0046] In some embodiments, the step of determining whether there is an abnormality between the material tray and the forming platform includes at least one of the following methods: determining whether the three-dimensional object on the forming platform has fallen, and if so, determining that there is an abnormality between the material tray and the forming platform; or determining whether there is foreign matter in the material tray, and if so, determining that there is an abnormality between the material tray and the forming platform.

[0047] In some embodiments, determining whether the three-dimensional object on the build platform has fallen includes at least one of the following methods:

[0048] - The separation force between the solidified layer and the bottom of the tray is obtained during the rise of the build platform, and the change in the separation force is used to determine whether the three-dimensional object on the build platform has fallen off.

[0049] The 3D printing system further includes a photoelectric sensor that controls the photoelectric sensor to scan the printing area of ​​the build platform to obtain contour information of the three-dimensional object currently on the build platform, and determines whether the three-dimensional object on the build platform has fallen off based on a comparison result between the contour information of the three-dimensional object currently on the build platform and the contour of the model corresponding to the print data;

[0050] - The 3D printing system further includes an image sensor, which controls the image sensor to collect contour information of the current three-dimensional object on the building platform, and determines whether the three-dimensional object on the building platform has fallen off based on a comparison result between the contour information of the current three-dimensional object on the building platform and the contour of the model corresponding to the printing data; or

[0051] The 3D printer also includes a pickup mechanism, which is used to separate the three-dimensional object on the build platform from the build platform. During the pickup process, the driving force and / or power of the pickup mechanism is obtained, and the driving force and / or power of the pickup mechanism is used to determine whether the three-dimensional object on the build platform has fallen.

[0052] In some embodiments, determining whether there is foreign matter in the tray includes at least one of the following methods:

[0053] - obtaining an actual consumption of printing material for a printing operation, comparing the actual consumption of printing material with a preset consumption, and determining the presence of foreign matter in the material tray when the difference between the actual consumption of printing material and the preset consumption is outside a preset range; wherein the preset consumption is obtained based on the printing data, or based on the volume of a three-dimensional graphic corresponding to the printing operation, or based on the volume of the three-dimensional graphic corresponding to the printing operation and the density of the printing material;

[0054] - the step of performing a printing operation according to the data queue includes controlling the build platform to move toward the bottom of the tray to a target position for printing, and determining that a foreign object is present in the tray when the build platform is unable to move to the target position due to insufficient displacement distance during the process of moving toward the target position;

[0055] - The 3D printing system further includes an image sensor, which controls the image sensor to collect image information in the tray and determines whether there is foreign matter in the tray based on the image information in the tray; or

[0056] The 3D printing system also includes an ultrasonic detection component that, based on a preconfigured detection strategy, generates an ultrasonic detection beam within the tray and determines whether a foreign object is present within the tray based on the echo delay time and / or echo intensity information of the ultrasonic detection beam. A task management method for a 3D printer.

[0057] Another aspect of the present application provides a printer control method and a 3D printer, which can reduce waste of printing materials and avoid equipment damage when an abnormality occurs during batch printing. The present application provides a printer control method, which is applied to a 3D printer, wherein the 3D printer includes a material tray and a forming platform, the material tray is used to hold printing materials, and the forming platform is used to attach three-dimensional objects, including: obtaining a data queue for manufacturing multiple groups of three-dimensional objects, wherein the data queue at least includes multiple groups of printing data corresponding one-to-one to the multiple groups of three-dimensional objects; manufacturing the multiple groups of three-dimensional objects in sequence according to the data queue; determining whether there is an abnormality between the material tray and the forming platform; and if it is determined that there is an abnormality between the material tray and the forming platform, stopping the step of manufacturing the multiple groups of three-dimensional objects in sequence according to the data queue.

[0058] In some embodiments, the step of determining whether there is an abnormality between the material tray and the forming platform includes at least one of the following methods: determining whether the three-dimensional object on the forming platform has fallen, and if so, determining that there is an abnormality between the material tray and the forming platform; determining whether there is foreign matter in the material tray, and if so, determining that there is an abnormality between the material tray and the forming platform.

[0059] In some embodiments, the step of determining whether the three-dimensional object on the forming platform has fallen includes: obtaining the separation force between the solidified layer and the bottom of the tray during the rising process of the forming platform; and determining whether the three-dimensional object on the forming platform has fallen based on the change state of the separation force.

[0060] In some embodiments, the step of determining whether the three-dimensional object on the forming platform has fallen based on the changing state of the separation force includes: establishing a correspondence between the separation force and the characteristics of the cross-section of the three-dimensional object using one of mathematical modeling, simulation, and empirical formulas; obtaining a preset value of the separation force corresponding to the peeling of the solidified layer based on the correspondence between the separation force and the characteristics of the cross-section of the three-dimensional object; and determining that the three-dimensional object on the forming platform has fallen when the difference between the actual separation force between the solidified layer and the bottom of the material tray and the preset value of the separation force is outside a preset range.

[0061] In some embodiments, the step of determining whether the three-dimensional object on the building platform has fallen based on the change state of the separation force includes: determining that the three-dimensional object on the building platform has fallen when the percentage by which the separation force of the current solidified layer decreases relative to the separation force of the previous solidified layer exceeds a preset percentage; and / or determining that the three-dimensional object on the building platform has fallen when the change in the separation force obtained per unit time or per unit sampling value exceeds a preset change threshold.

[0062] In some embodiments, the 3D printer further includes a photoelectric sensor, and the step of determining whether the three-dimensional object on the building platform has fallen includes: controlling the photoelectric sensor to scan the printing area of ​​the building platform to obtain contour information of the current three-dimensional object on the building platform; and determining whether the three-dimensional object on the building platform has fallen based on a comparison result between the contour information of the current three-dimensional object on the building platform and the model contour corresponding to the printing data.

[0063] In some embodiments, the 3D printer further includes an image sensor, and the step of determining whether the three-dimensional object on the building platform has fallen includes: controlling the image sensor to collect contour information of the current three-dimensional object on the building platform; and determining whether the three-dimensional object on the building platform has fallen based on a comparison result between the contour information of the current three-dimensional object on the building platform and the model contour corresponding to the printing data.

[0064] In some embodiments, the 3D printer further includes a pickup mechanism, which is used to separate the three-dimensional object on the building platform from the building platform; the step of determining whether the three-dimensional object on the building platform has fallen includes: obtaining the driving force and / or power of the pickup mechanism during the process of the pickup mechanism picking up the object; and determining whether the three-dimensional object on the building platform has fallen based on the driving force and / or power of the pickup mechanism.

[0065] In some embodiments, the step of determining whether there is foreign matter in the material tray includes: obtaining the actual consumption of printing materials for a printing behavior; comparing the actual consumption of printing materials with a preset consumption, and determining that there is foreign matter in the material tray when the difference between the actual consumption of printing materials and the preset consumption is outside a preset range; wherein the preset consumption is obtained based on printing data, or based on the volume of a three-dimensional graphic corresponding to a printing behavior, or based on the volume of a three-dimensional graphic corresponding to a printing behavior and the density of the printing material.

[0066] In some embodiments, the step of obtaining the actual consumption of printing material for a printing behavior includes: determining the actual consumption of printing material for a printing behavior based on the change in the liquid level of the printing material in the material tray before and after the printing behavior; or, determining the actual consumption of printing material for a printing behavior based on the change in the weight of the material tray before and after the printing behavior; or, in the case where the 3D printer includes an automatic liquid adding mechanism, determining the actual consumption of printing material for a printing behavior based on the liquid adding situation of the automatic liquid adding mechanism during the printing behavior.

[0067] In some embodiments, the step of performing a printing job according to a data queue includes controlling the forming platform to move toward the bottom of the material tray to a target position for printing; the step of determining whether there is a foreign object in the material tray includes: when the forming platform cannot move to the target position due to insufficient displacement distance during the process of moving to the target position, determining that there is a foreign object in the material tray.

[0068] In some embodiments, the 3D printer further includes an image sensor, and the step of determining whether there is foreign matter in the material tray includes: controlling the image sensor to collect image information in the material tray; and determining whether there is foreign matter in the material tray based on the image information in the material tray.

[0069] In some embodiments, the 3D printer further includes an ultrasonic detection component; the step of determining whether there is a foreign object in the tray comprises: enabling the ultrasonic detection component to form an ultrasonic detection beam in the tray according to a preconfigured detection strategy; and determining whether there is a foreign object in the tray according to the echo delay time and / or echo intensity information of the ultrasonic detection beam.

[0070] In some embodiments, the detection strategy is configured as follows: after the 3D printer prints a preset target number of layers, executing an ultrasonic detection instruction to cause the ultrasonic detection component to form an ultrasonic detection beam in the material tray; or, after the 3D printer is started, controlling the ultrasonic detection component to continuously form an ultrasonic detection beam.

[0071] In some embodiments, the step of determining whether there is an abnormality between the material tray and the forming platform is performed at least before printing according to each set of printing data or after printing of each set of printing data is completed.

[0072] In some embodiments, the method further includes: outputting prompt information and / or alarm information when it is determined that an abnormality exists.

[0073] On the other hand, the present application provides a 3D printer, comprising: a manufacturing mechanism, for manufacturing multiple groups of three-dimensional objects in sequence according to a data queue, the data queue at least containing multiple groups of printing data corresponding one-to-one to the multiple groups of three-dimensional objects, the manufacturing mechanism comprising: a material tray, for accommodating printing materials for manufacturing three-dimensional objects; and a forming platform, for attaching three-dimensional objects; a control mechanism, electrically connected to the manufacturing mechanism and the picking mechanism, for determining whether there is an abnormality between the material tray and the forming platform, and stopping the manufacturing mechanism if it is determined that there is an abnormality between the material tray and the forming platform.

[0074] In some embodiments, a detection mechanism is further included, which is used to detect whether the three-dimensional object on the forming platform has fallen, and / or to detect whether there is foreign matter in the material tray; when the control mechanism detects through the detection mechanism that the three-dimensional object on the forming platform has fallen or there is foreign matter in the material tray, it determines that there is an abnormality between the material tray and the forming platform.

[0075] In some embodiments, the manufacturing mechanism includes a lifting assembly for driving the forming platform to rise and fall, the detection mechanism includes a separation force sensor for detecting the separation force between the solidified layer and the bottom of the material tray, and the control mechanism is configured to: obtain the separation force between the solidified layer and the bottom of the material tray during the rising process of the forming platform; and determine whether the three-dimensional object on the forming platform falls according to the changing state of the separation force.

[0076] In some embodiments, the detection mechanism includes a photoelectric sensor, and the control mechanism is configured to: control the photoelectric sensor to scan the printing area of ​​the building platform to obtain contour information of the current three-dimensional object on the building platform; and determine whether the three-dimensional object on the building platform has fallen based on a comparison result between the contour information of the current three-dimensional object on the building platform and the model contour corresponding to the printing data.

[0077] In some embodiments, the detection mechanism includes an image sensor, and the control mechanism is configured to: control the image sensor to collect contour information of the current three-dimensional object on the building platform; and determine whether the three-dimensional object on the building platform has fallen based on a comparison result between the contour information of the current three-dimensional object on the building platform and the model contour corresponding to the printing data.

[0078] In some embodiments, the 3D printer includes a pickup mechanism, which is used to remove the three-dimensional objects from the forming platform after each group of three-dimensional objects is manufactured. The detection mechanism includes a pickup force sensor configured on the pickup mechanism, which is used to detect the driving force of the pickup mechanism when picking up the objects. The control mechanism is configured to: obtain the driving force of the pickup mechanism through the pickup force sensor during the process of the pickup mechanism picking up the objects; and determine whether the three-dimensional objects on the forming platform fall according to the driving force of the pickup mechanism.

[0079] In some embodiments, the detection mechanism includes a liquid level sensor, which is used to detect the liquid level of the printing material in the material tray; the control mechanism is configured to: determine the actual consumption of the printing material for a period of printing behavior based on the change in the liquid level of the printing material in the material tray before and after a period of printing behavior; compare the actual consumption of the printing material with the preset consumption, and when the difference between the actual consumption of the printing material and the preset consumption is outside a preset range, determine that foreign matter exists in the material tray.

[0080] In some embodiments, the detection mechanism includes a weighing sensor, which is used to detect the weight of the material tray; the control mechanism is configured to: determine the actual consumption of printing materials for a period of printing behavior based on the change in the weight of the material tray before and after a period of printing behavior; compare the actual consumption of printing materials with the preset consumption, and when the difference between the actual consumption of printing materials and the preset consumption is outside a preset range, determine that there is foreign matter in the material tray.

[0081] In some embodiments, the detection mechanism includes an image sensor, and the control mechanism is configured to: control the image sensor to collect image information in the material tray; determine whether there is foreign matter in the material tray based on the image information in the material tray; and / or control the image sensor to collect contour information of the current three-dimensional object on the forming platform; determine whether the three-dimensional object on the forming platform has fallen based on a comparison result between the contour information of the current three-dimensional object on the forming platform and the model contour corresponding to the printing data.

[0082] In some embodiments, the detection mechanism includes an ultrasonic detection component, and the control mechanism is configured to: enable the ultrasonic detection component to form an ultrasonic detection beam in the material tray according to a preconfigured detection strategy; and determine whether there is foreign matter in the material tray based on the echo delay time and / or echo intensity information of the ultrasonic detection beam.

[0083] In some embodiments, the manufacturing mechanism includes a lifting assembly for driving the forming platform to rise and fall, the lifting assembly is used to drive the forming platform to move to the bottom of the material tray to a target position for printing, the detection mechanism includes a displacement sensor for detecting the displacement of the forming platform, and the control mechanism is configured to: when the forming platform cannot move to the target position due to insufficient displacement distance during the process of moving to the target position, determine that there is foreign matter in the material tray.

[0084] In some embodiments, the 3D printer includes an automatic liquid adding mechanism, which is used to add printing material to the material tray; the control mechanism is configured to: determine the actual consumption of printing material for a printing behavior based on the liquid adding situation of the automatic liquid adding mechanism during a printing behavior; compare the actual consumption of printing material with the preset consumption, and when the difference between the actual consumption of printing material and the preset consumption is outside a preset range, determine that foreign matter exists in the material tray.

[0085] In some embodiments, the 3D printer includes a pickup mechanism, which is used to remove the three-dimensional objects from the building platform after each group of three-dimensional objects is manufactured; the control mechanism is configured to: obtain the contact force between the pickup mechanism and the building platform, and when the contact force is less than a preset force threshold range, determine that there is an abnormality between the material tray and the building platform; wherein the contact force is obtained by one or more of the force sensor reading, the motor power of the motor driving the pickup mechanism, and the motor torque.

[0086] In an embodiment of the present application, task information of a task to be migrated is obtained, wherein the task to be migrated is at least one printing task that is not completed when a faulty printer in a three-dimensional printing scenario sends an abnormal signal; a target printer is determined from a plurality of candidate printers based on the task information and a target migration strategy, wherein the target migration strategy is used to match a target printer for the task to be migrated; the task information is sent to the target printer, and the task to be migrated is added to the task sequence of the target printer. Thus, the present application achieves the purpose of completing the automated migration of printing tasks through a migration strategy, thereby achieving the technical effect of automatically migrating printing tasks when an anomaly is found in a continuous production scenario, improving the efficiency of task migration when a printing task is abnormal, reducing the cost of printing task management and the risk of delayed delivery of printing tasks, and thus solving the technical problems of low efficiency, high cost, and high risk of delayed printing production tasks in the related technology that relies on manual task migration processing when a printing task is abnormal. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0088] FIG1 is a hardware structure block diagram of a terminal device for a task management method for a 3D printer according to an embodiment of the present application;

[0089] FIG2 is a flowchart of a task management method for a 3D printer according to an embodiment of the present application;

[0090] FIG3 is a schematic diagram of a print task migration process for some faulty printers according to an embodiment of the present application;

[0091] FIG4 is a schematic structural diagram of a 3D printer according to an embodiment of the present application;

[0092] FIG5 is a control block diagram of a 3D printer according to an embodiment of the present application;

[0093] FIG6 is a flow chart of a printer control method according to an embodiment of the present application;

[0094] FIG7 is a schematic diagram of the arrangement of the ultrasound probe in the first embodiment of the present application;

[0095] FIG8 is a schematic diagram of the arrangement of the ultrasound probe in the second embodiment of the present application;

[0096] FIG9 is a schematic diagram of the arrangement of ultrasound probes in a third embodiment of the present application;

[0097] FIG10 is a schematic diagram of the arrangement of ultrasound probes in a fourth embodiment of the present application;

[0098] FIG11 is a schematic diagram of the arrangement of the ultrasound probe in the fifth embodiment of the present application.

[0099] FIG12 is a structural block diagram of a task management method and apparatus for a 3D printer according to an embodiment of the present application. DETAILED DESCRIPTION

[0100] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed or combined in various different configurations without contradicting each other.

[0101] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0102] According to an embodiment of the present application, an embodiment of a task management method for a 3D printer is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0103] FIG1 is a block diagram of the hardware structure of a terminal device for use in some 3D printer task management methods according to embodiments of the present application. As shown in FIG1 , the terminal device 10 may include one or more processors 102 (the processor 102 may include, but is not limited to, a microcontroller unit (MCU) or a field programmable gate array (FPGA) processing device), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, the terminal device 10 may also include: a display device 110, an input / output device 108 (i.e., an I / O device), a Universal Serial Bus (USB) port (which may be included as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). Those skilled in the art will appreciate that the structure shown in FIG1 is merely illustrative and does not limit the structure of the terminal device 10 described above. For example, the terminal device 10 may include more or fewer components than shown in FIG1 , or have a configuration different from that shown in FIG1 .

[0104] It should be noted that the one or more processors 102 and / or other data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuit may be a single independent processing module, or may be fully or partially integrated into any of the other components of the terminal device 10 (or mobile device).

[0105] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the task management method for a 3D printer in the embodiments of the present application. The processor 102 executes the software programs and modules stored in the memory 104 to perform various functional applications and data processing, thereby implementing the task management method for a 3D printer described above. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories may be connected to the terminal device 10 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0106] The transmission device 106 is used to receive or send data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the terminal device 10. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0107] In the above operating environment, an embodiment of the present application provides a task management method for a 3D printer as shown in FIG2 . FIG2 is a flow chart of a task management method for a 3D printer according to an embodiment of the present application. As shown in FIG2 , the method includes the following implementation steps:

[0108] Step S201: Acquire task information of a task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when a faulty printer in a 3D printing scenario sends an abnormal signal;

[0109] Step S202: determining a target printer from a plurality of candidate printers based on the task information and the target migration strategy, wherein the target migration strategy is used to match a target printer for the task to be migrated;

[0110] Step S203: Send the task information to the target printer, and add the task to be migrated to the task sequence of the target printer.

[0111] In step S201, task information for tasks to be migrated is obtained. This information can be obtained from a local server, such as a 3D printer controller, or from a remote server, such as a cloud server. The task to be migrated is at least one unfinished print task in the 3D printing scenario when the faulty printer issues an exception signal. For example, this information includes unprinted tasks remaining in the same print queue as the faulty printer, or other unprinted tasks remaining in the faulty printer.

[0112] In step S202, the target migration strategy can be judged, matched or screened based on the task information of the task to be migrated. Specifically, the target migration strategy can be confirmed based on any one of the printing task name, estimated printing material usage, estimated printing time, associated task information, compatible printer model, printing material category, set printing layer thickness, whether it is equipped with a resin dosing or cooling device, whether it has a gas supply module, whether it has an automatic dosing module, etc. For example, if a 3D printer among multiple candidate printers is idle, and the printing material in the printer meets the estimated printing material usage in the task information of the task to be migrated, then the 3D printer can be determined to be the target printer that matches the task to be migrated. For example, if the printing model of a 3D printer among multiple candidate printers meets the compatible printer model in the task information of the task to be migrated, then the 3D printer can be determined to be the target printer that matches the task to be migrated. For example, if the printing task of a 3D printer among multiple candidate printers is associated with the task of the faulty printer, that is, it belongs to the associated task information, then the 3D printer can be determined to be the target printer that matches the task to be migrated. For another example, if a 3D printer among multiple candidate printers is equipped with a resin dosing or cooling device, and the task information for the task to be migrated requires that the printer be equipped with a resin dosing or cooling device, then this 3D printer will be the target printer for the task to be migrated. For another example, if the material category and printing material usage of a printer among multiple candidate printers meet the material category and printing material usage requirements of the task information for the task to be migrated, then this 3D printer will be the target printer for the task to be migrated.

[0113] In step S202 , sending the task information to the target printer and adding the task to be migrated to the target printer's task sequence can be processed by a local server, such as the controller of the 3D printer, or by a remote server, such as the cloud.

[0114] In an embodiment of the present application, task information of a task to be migrated is obtained, wherein the task to be migrated is at least one printing task that is not completed when a faulty printer in a three-dimensional printing scenario sends an abnormal signal; a target printer is determined from a plurality of candidate printers based on the task information and a target migration strategy, wherein the target migration strategy is used to match a target printer for the task to be migrated; the task information is sent to the target printer, and the task to be migrated is added to the task sequence of the target printer. Thus, the present application achieves the purpose of completing the automated migration of printing tasks through a migration strategy, thereby achieving the technical effect of automatically migrating printing tasks when an anomaly is found in a continuous production scenario, improving the efficiency of task migration when a printing task is abnormal, reducing the cost of printing task management and the risk of delayed delivery of printing tasks, and thus solving the technical problems of low efficiency, high cost, and high risk of delayed printing production tasks in the related technology that relies on manual task migration processing when a printing task is abnormal.

[0115] The above method of the embodiment of the present application is further introduced below by taking the remote management scenario of printing tasks when a 3D printer performs continuous printing abnormalities as an example.

[0116] Optionally, in the above step S201, obtaining the task information of the task to be migrated may further include the following execution steps:

[0117] Step S2011 , in response to an abnormal signal sent by the faulty printer, determining tasks to be migrated on the faulty printer and acquiring task information, wherein the abnormal signal is triggered by an abnormal event in the 3D printing scenario.

[0118] According to the above steps, the 3D printing task is remotely migrated according to the task management process shown in Figure 3. The above task management process runs on the remote management system. When a printer stops printing due to an abnormality, an abnormality signal is sent to the remote management system to notify the remote management system. Furthermore, after receiving the abnormality signal, the remote management system checks the remaining print tasks on the faulty printer (i.e., the tasks to be migrated) and obtains detailed task information for these print tasks.

[0119] The task information includes task data for each of the at least one print task. In the aforementioned application scenario, the task data includes task name, estimated printing material usage, estimated printing time, associated task information, compatible printer model, printing material type, and print layer thickness. The target migration strategy is then matched based on the task data. Then, based on the target migration strategy, a printer that meets the requirements of the task to be migrated is selected from multiple candidate printers.

[0120] Optionally, in step S202, determining a target printer from multiple candidate printers according to the task information and the target migration strategy may further include the following execution steps:

[0121] Step S2021: Screening multiple candidate printers to obtain at least one pending printer, wherein the pending printer is a printer in the multiple candidate printers that is online and supports a continuous printing function;

[0122] Step S2022: Determine a target printer from at least one pending printer according to the task information and the target migration strategy.

[0123] Still as shown in Figure 3, after obtaining the task information, the pending printers (that is, at least one pending printer) are screened from the multiple candidate printers owned by the user. The above multiple candidate printers can be all printers in the printing device cluster. The remote management system first screens the printers owned by the user organization according to the compatible printer model, printing material and printing layer thickness of the print task, and selects the printers that are online and support continuous printing. When there is one or more printers that meet the above screening conditions, these printers are defined as pending printers (that is, the above pending printers). When no printer that meets the above screening conditions is found, the process ends.

[0124] It should be noted that 3D printers that support continuous printing generally have automatic shoveling, molding platform return to original position and automatic liquid adding functions. After one version of the model is printed, it can automatically separate the model from the molding platform and return it to its original position, automatically replenish printing materials and automatically print the next task.

[0125] Optionally, in step S2022, determining the target printer from at least one pending printer according to the task information and the target migration strategy may further include the following execution steps:

[0126] Step S20221, traversing and processing at least one print task among the tasks to be migrated;

[0127] Step S20222: for the current print task in the traversal, determine the task data of the current print task from the task information, and determine the target printer corresponding to the current print task from at least one pending printer based on the task data and the target migration strategy.

[0128] Still as shown in FIG3 , the remote management system processes each print task one by one, and matches the target printer for the print task based on the screened pending printers, the task data of the print task and the target migration strategy (including at least two judgment strategies).

[0129] Optionally, the task data includes at least task association information, printer configuration information, estimated material usage, and estimated printing time. In the above step S20222, based on the task data and the target migration strategy, determining the target printer corresponding to the current print task from at least one pending printer may also include the following execution steps:

[0130] Step S202221, when it is determined based on the task association information that the current printing task is not associated with other tasks or it is determined based on the printer configuration information that the target allocation constraint is not turned on, then the target printer corresponding to the current printing task is determined from at least one pending printer based on the estimated material usage of the current printing task and the estimated total printing time and remaining printing material of the remaining tasks on at least one pending printer, wherein the target allocation constraint is used to limit the allocation of at least one printing task in the same task to be migrated to the same printer.

[0131] Still as shown in Figure 3, based on the task data of the print task, it is determined whether the print task has associated tasks or whether the target allocation constraint is enabled. Specifically, the remote management system checks the associated information of the print task and checks whether the print task has enabled the "associated task with printer" configuration.

[0132] If the associated print task information for a print task is empty or the "Associate tasks with the same printer" configuration is disabled, the estimated total printing time for the remaining tasks on each selected pending printer is calculated. Specifically, the remaining time of the print task currently being printed on the pending printer is represented as at0, the number of print tasks awaiting printing is represented as n, and the estimated printing time of each print task is represented as at1 to atn, respectively. The estimated total printing time TA for the pending printer is then the sum of at0 and at1 to atn. Based on this, the target printer for the current print task is determined from the at least one pending printer based on the estimated material usage of the current print task, the estimated total printing time of the remaining tasks on at least one pending printer, and the remaining amount of printing material.

[0133] Optionally, in step S202221, determining the target printer corresponding to the current print task from the at least one pending printer based on the estimated material usage of the current print task and the estimated total printing time and remaining printing material of the remaining tasks on the at least one pending printer may further include the following execution steps:

[0134] Step S2022211: sort at least one pending printer according to the estimated total printing time to obtain a sorting result;

[0135] Step S2022212, screening printers having a remaining amount of printing material greater than an estimated amount of material used from at least one pending printer, and obtaining a screening result;

[0136] Step S2022213: Based on the screening results, the printer with the shortest estimated total printing time in the sorting results is determined as the target printer corresponding to the current print task.

[0137] Still as shown in FIG. 3, after obtaining the remaining printing time and the remaining printing material of the printer to be determined, calculating the estimated total printing time of the printer to be determined, and then sorting at least one printer to be determined according to the estimated total printing time, a sorting result is obtained (for example, in this example, sorting is performed from small to large according to the estimated total printing time). Based on the above sorting result, sequentially obtain the remaining printing material amounts selected from multiple printers to be determined, denoted as G1 to Gn.

[0138] Further, number the m printing tasks in the task to be migrated as a, b, …, m, and obtain the estimated material usage amounts of these m printing tasks, denoted as Ga, Gb, …, Gm respectively. On this basis, consider the n printers to be determined in sequence. When Ga < G1, then select the first printer to be determined as the target printer corresponding to the a-th printing task. When Ga > G1, then compare the remaining printing material amount G2 of the second printer to be determined with the estimated material usage amount Ga of the a-th printing task. When Ga < G2, then select the second printer to be determined as the target printer corresponding to the a-th printing task, and so on. Repeat the above operations for the printing tasks b to m in the task to be migrated in sequence to match a target printer for each printing task.

[0139] In particular, when no target printer is matched for a certain printing task after traversing the printers to be determined according to the above rules, then forcibly set the printer to be determined with the shortest estimated total printing time currently as the target printer for this printing task.

[0140] Optionally, in the above step S20222, based on the task data and the target migration strategy, determining the target printer corresponding to the current printing task from at least one printer to be determined may further include the following execution steps:

[0141] Step S202222, when it is determined that the target allocation constraint is enabled according to the printer configuration information, then determine other tasks associated with the current printing task according to the task association information in the task data;

[0142] Step S202223, determine the printer containing other tasks among at least one printer to be determined as the target printer corresponding to the current printing task.

[0143] In an actual production environment, there may be an association relationship between multiple task slices. For example, in the dental invisible orthodontic printing task, the number of dental models of a patient is approximately 20 to 100. There are multiple task slices generated by preprocessing this printing task. When arranging the printing production, multiple task slices of the same printing task will be sent to the same printer for printing, so that fast sorting can be achieved during subsequent sorting, and there is no need to wait for parts and search for parts because the dental models are distributed on different printers.

[0144] In the above-mentioned task migration solution provided in this application, the user can choose "prioritize printing the same print task on the same device". At this time, when migrating some unfinished tasks in the print task, multiple task slices corresponding to the unfinished task are prioritized to be migrated to the same printer, rather than matching the migration device for each task slice according to the above-mentioned migration strategy.

[0145] Still as shown in Figure 3, when the print task has the target allocation constraint turned on, that is, when it is required to "assign the same printer to the same print task", it is checked whether the associated task of the print task is running on the pending printer. If there is a pending printer with an associated task, the print task is assigned to the same printer corresponding to the associated task. If there is no pending printer with an associated task, the target printer is matched for the print task according to the above process of determining the target printer for the print task that does not have the target allocation constraint turned on.

[0146] Specifically, according to the task name of the associated task corresponding to the print task, the print task queues of all pending printers are checked (in this example, the print task records completed in the last day are checked) to determine whether there are associated tasks in multiple pending printers.

[0147] Optionally, the task management method for a 3D printer may further include the following steps:

[0148] Step S204 : After adding the task to be migrated to the task sequence of the target printer, the estimated total printing time of the target printer is reset according to the estimated printing time corresponding to the task to be migrated.

[0149] Optionally, the task management method for a 3D printer may further include the following steps:

[0150] Step S205: After the target printer is determined from the plurality of candidate printers, the task information is deleted from the faulty printer.

[0151] After matching a target printer for each print task, the task data corresponding to the print task on the faulty printer is deleted, the task data is sent to the target printer, and the print task is added to the target printer's task queue. Furthermore, based on the estimated print time of the print task added to the task queue, the estimated total print time for the target printer is reset and updated, and the remaining printing material level for the target printer is updated.

[0152] It should be noted that after determining the target printer, before migrating the print task to the target printer, it is necessary to delete the task information of the print task to be migrated from the original printer (that is, the malfunctioning printer). This can avoid the problem of duplicate printing due to the original printer retaining the task information of the print task to be migrated (such as task slice files). The above-mentioned task management method provided in this application can be automatically triggered after the 3D printer is abnormally shut down, thereby reducing the risk of delayed delivery of print tasks in the application scenario. In addition, the task is automatically migrated according to the proposed migration strategy, so that the migrated print task can be executed and completed in the shortest possible time. The above-mentioned task migration method does not require or involves less manual intervention, has low labor costs, is simple to operate, and improves the degree of automation of 3D printing continuous production.

[0153] Optionally, in the above step S2011, the abnormal event includes at least one of: printer device failure, printer zeroing abnormality, and insufficient printing materials.

[0154] Optionally, the printer device failure includes: a printer optical machine failure, a printer spindle failure, etc. The failure type corresponding to the printer device failure may also be determined according to the printer model.

[0155] Figure 4 is a schematic diagram of the structure of a 3D printer 010 according to one embodiment of the present application; Figure 5 is a control block diagram of a 3D printer 010 according to one embodiment of the present application. As shown in Figures 4 and 5, the 3D printer 010 provided in this embodiment is a light-curing printer, specifically an LCD, DLP, or SLA printer. 3D printer 010 includes a manufacturing mechanism, a pickup mechanism 600, an automatic liquid addition mechanism 700, a detection mechanism 500, and a control mechanism 800. The manufacturing mechanism is used to sequentially manufacture multiple sets of three-dimensional objects according to a data queue, which contains at least multiple sets of print data corresponding to the multiple sets of three-dimensional objects.

[0156] Specifically, in this embodiment, the manufacturing mechanism includes a build platform 100, a material tray 200, a lifting assembly 300, and an illumination assembly 400. The build platform 100 is used to attach a three-dimensional object; the material tray 200 is used to hold printing material and has an opening facing the build platform 100; the lifting assembly 300 is in transmission connection with the build platform 100 and is used to drive the build platform 100 up and down to move it closer to or away from the material tray 200; and the illumination assembly 400 is used to illuminate the printing material in the material tray 200, causing it to solidify and adhere to the build platform 100 or to the solidified printing material. In this embodiment, the molding platform 100, the material tray 200 and the illumination component 400 are arranged in sequence from top to bottom. The bottom of the material tray 200 is a transparent structure. The illumination component 400 projects a light beam (such as ultraviolet light UV) upward, so that the light beam enters the accommodating cavity of the material tray 200 from the bottom of the material tray 200. The printing material is a photosensitive material (such as a photosensitive resin), which can complete the solidification conversion under the irradiation of a light beam of a specific wavelength to become a solid slice layer, that is, a solidified layer. The 3D printer 010 of the embodiment of the present application forms a three-dimensional object by printing layer by layer. By sequentially forming several solidified layers on the molding platform 100, a three-dimensional object formed by stacking several solidified layers can be obtained. During the 3D printing process, the molding platform 100 gradually rises under the drive of the lifting component 300, while the position where the printing material undergoes solidification transformation remains unchanged (located in the material tray 200). The specific molding method and principle of the light-curing printer can refer to the existing technology and will not be repeated here.

[0157] The automatic liquid adding mechanism 700 can automatically add printing material to the material tray 200 according to the reduction of printing material in the material tray 200, thereby realizing batch printing production.

[0158] The retrieval mechanism 600 is used to remove the printed three-dimensional object from the manufacturing mechanism; specifically, the retrieval mechanism 600 is used to separate the three-dimensional object on the forming platform 100 from the forming platform 100 and remove the three-dimensional object. The retrieval mechanism 600 may include a scraper (not shown in the figure), a scraper driver (not shown in the figure) for driving the scraper to move relative to the forming platform 100, a receiving basket (not shown in the figure), and a receiving basket driver (not shown in the figure). The retrieval process includes using the scraper to peel the three-dimensional object from the forming platform 100. After the three-dimensional object falls into the receiving basket, the three-dimensional object is transported away by the receiving basket so that the next three-dimensional object can be printed and manufactured.

[0159] The detection mechanism 500 in the embodiment of the present application can be used to collect relevant information during the batch printing production process. The controller can determine whether there is any abnormality between the material tray 200 and the forming platform 100 based on the information fed back by the detection mechanism 500. The detection mechanism 500 may include one or more of a force sensor, a displacement sensor, a liquid level sensor, a weighing sensor, an image sensor, a photoelectric sensor, and an ultrasonic detection component.

[0160] In the embodiment of the present application, the lifting assembly 300, the illumination assembly 400, the detection mechanism 500, the pickup mechanism 600, and the automatic liquid adding mechanism 700 are all electrically connected to the control mechanism 800. The control mechanism 800 can control the lifting assembly 300, the illumination assembly 400, the pickup mechanism 600, and the automatic liquid adding mechanism 700 to achieve batch printing of multiple groups of products. In addition, the control mechanism 800 can detect the feedback information of the mechanism 500 to determine whether there is an abnormality between the material tray 200 and the forming platform 100. If an abnormality is determined between the material tray 200 and the forming platform 100, the manufacturing mechanism is stopped.

[0161] In an optional embodiment, the control mechanism 800 is specifically configured to: obtain the contact force between the picking mechanism 600 and the forming platform 100, and when the contact force is less than a preset force threshold range, determine that there is an abnormality between the material tray 200 and the forming platform 100; wherein, the contact force is obtained by one or more of the force sensor reading, the motor power of the motor driving the picking mechanism 600, and the motor torque.

[0162] FIG6 is a flow chart of a printer control method according to an embodiment of the present application. The printer control method provided in the embodiment of the present application can be applied to the 3D printer 010 provided in the embodiment of the present application. As shown in FIG6 , the printer control method includes:

[0163] Step S206 , obtaining a data queue for manufacturing multiple groups of three-dimensional objects, wherein the data queue at least includes multiple groups of printing data corresponding one-to-one to the multiple groups of three-dimensional objects.

[0164] During pre-processing, based on printing requirements, the control mechanism 800 performs operations such as grouping, layout, and slicing on the 3D model to generate multiple sets of data. These sets of data are then arranged in a specific order to form a data queue. Each set of printing data in the data queue is used to produce a set of 3D objects.

[0165] Step S207 , manufacturing multiple groups of three-dimensional objects in sequence according to the data queue.

[0166] In an embodiment of the present application, the 3D printer 010 will perform continuous printing based on multiple sets of printing data in the data queue, that is, after forming a group of three-dimensional objects on the forming platform 100, the picking mechanism 600 will take away the group of three-dimensional objects so as not to affect the next printing. The group of three-dimensional objects here corresponds to a group of printing data in step S100, and each group of three-dimensional objects requires a round of printing operation to complete. The picking mechanism 600 can be a mechanism that directly takes the three-dimensional objects from the forming platform 100, or it can be a mechanism that replaces the forming platform 100 on which the three-dimensional objects are formed. In addition, the printing material can be automatically added to the material tray 200 according to the printing requirements. It can be added after a print is completed or before it starts, or it can be added during a print process.

[0167] Step S208: Determine whether there is any abnormality between the material tray and the forming platform.

[0168] In this embodiment, the abnormality between the material tray 200 and the forming platform 100 refers to an abnormality that affects the normal progress of the printing operation, which specifically includes the following two categories:

[0169] 1) The three-dimensional object falls off the build platform 100. This can be caused by insufficient adhesion between the solidified layer and the build platform 100 or the previous solidified layer. This can include the entire solidified portion falling off, one or more recently solidified layers falling off, or a portion of the recently solidified layer falling off.

[0170] 2) There is foreign matter in the tray 200. The foreign matter in the tray 200 may affect the curing of the printing material in the tray 200 and may also affect the movement of the molding surface to the target position. For example, the molding platform 100 may be unable to continue to descend to the appropriate position due to the obstruction of the foreign matter.

[0171] Step S209: In response to an abnormality between the material tray and the building platform, determine task information of the task to be migrated, wherein the task to be migrated is at least one printing task that was not completed when the faulty printer in the 3D printing scenario sent an abnormality signal indicating an abnormality between the material tray and the building platform.

[0172] In this embodiment, when it is determined that either the three-dimensional object on the forming platform 100 has fallen or a foreign object is present in the material tray 200, it is determined that an abnormality exists between the material tray 200 and the forming platform 100. Therefore, step S208 can be implemented in at least one of the following ways:

[0173] Determine whether the three-dimensional object on the forming platform 100 has fallen off. If so, determine that there is an abnormality between the material tray 200 and the forming platform 100;

[0174] It is determined whether there is any foreign matter in the material tray 200 . If so, it is determined that there is an abnormality between the material tray 200 and the forming platform 100 .

[0175] Correspondingly, the control mechanism 800 can detect whether the three-dimensional object on the forming platform 100 has fallen, and / or whether there are foreign objects in the material tray 200 through the detection mechanism 500, and then determine whether there is an abnormality between the material tray 200 and the forming platform 100.

[0176] Optionally, when it is determined that there is an abnormality between the material tray 200 and the forming platform 100, the step of sequentially manufacturing multiple groups of three-dimensional objects according to the data queue is stopped.

[0177] By stopping subsequent printing operations if an abnormality occurs between the material tray 200 and the build platform 100, waste of printing materials and equipment damage are avoided. Specifically, the steps of sequentially producing multiple sets of three-dimensional objects according to the data queue are stopped, specifically including stopping the operation of the illumination assembly 400, the lifting assembly 300, the automatic liquid adding mechanism 700, and the object removal mechanism 600.

[0178] Optionally, the step of determining whether there is an abnormality between the material tray 200 and the forming platform 100 in step S208 is performed at least before printing according to each set of printing data or after printing of each set of printing data is completed. In other words, step S208 is performed at least once before or after each round of printing operation; optionally, step S208 can also be performed during a round of printing operation, so that the abnormality can be discovered in time and the printing job can be stopped.

[0179] The following describes a specific method for determining whether the three-dimensional object on the building platform 100 has fallen in step S208.

[0180] Optionally, the step of determining whether the three-dimensional object on the building platform 100 has fallen in step S208 includes:

[0181] Step S2081, obtaining the separation force between the solidified layer and the bottom of the tray 200 during the ascending process of the molding platform 100;

[0182] Step S2082 : determining whether the three-dimensional object on the forming platform 100 has fallen off based on the change state of the separation force.

[0183] Specifically, the detection mechanism 500 includes a separation force sensor for detecting the separation force between the solidified layer and the bottom of the tray 200. The separation force sensor can be installed on the forming platform 100 and / or the lifting assembly 300. The control mechanism 800 can use the separation force sensor to detect the separation force between the solidified layer and the bottom of the tray 200 during the rising process of the forming platform 100.

[0184] It can be understood that after the curing is completed, due to the adhesion between the solidified layer and the bottom of the material tray 200, the solidified layer will be peeled off from the bottom of the material tray 200 when the molding platform 100 rises, thereby causing the molding platform 100 to be subjected to a downward force. The change state of the force is related to the corresponding cross-section and distribution of the solidified layer.

[0185] Specifically, step S2082 can be implemented by establishing a correspondence between the separation force and the characteristics of the three-dimensional object's cross section using one of mathematical modeling, simulation, and empirical formulas; obtaining a preset separation force value corresponding to the solidified layer peeling process based on the correspondence between the separation force and the characteristics of the three-dimensional object's cross section; and determining that the three-dimensional object on the forming platform 100 has fallen when the difference between the actual separation force between the solidified layer and the bottom of the tray 200 and the preset separation force value is outside a preset range. Furthermore, the difference between the actual separation force and the preset separation force value can be used to determine whether the solidified layer has fallen partially or entirely.

[0186] In other embodiments, step S2082 may also be implemented in the following manner:

[0187] When the percentage by which the separation force of the current solidified layer decreases relative to the separation force of the previous solidified layer exceeds a preset percentage, it is determined that the three-dimensional object on the building platform 100 has fallen.

[0188] For example, by comparing the difference in the separation force sensor readings between two consecutive solidification processes, a judgment can be made that a 3D object has fallen if the percentage decrease in the separation force value relative to the previous solidified layer exceeds a preset percentage. For example, when the cross-section of the solidified layer is large, the separation force sensor reading is often high, such as 200-600N. However, when a board falls, the separation force sensor reading may drop drastically, for example, to less than 50N.

[0189] Alternatively, when the variation of the separation force obtained within a unit time or a unit sampling value exceeds a variation threshold, it is determined that the three-dimensional object on the building platform has fallen.

[0190] It should be understood that for material trays 200 with different characteristics, the readings corresponding to the separation force sensor often have certain differences, and the above judgment can be performed based on material trays 200 with the same characteristics.

[0191] In another optional embodiment, the step of determining whether the three-dimensional object on the building platform 100 has fallen in step S208 includes:

[0192] Step S2083: Control the photoelectric sensor to scan the printing area of ​​the building platform 100 to obtain the contour information of the current three-dimensional object on the building platform 100;

[0193] Step S2084 : determining whether the three-dimensional object on the building platform 100 has fallen off based on a comparison result of the contour information of the current three-dimensional object on the building platform 100 and the contour of the model corresponding to the printing data.

[0194] Specifically, the contour information of the three-dimensional object includes its length in a preset direction (such as a direction parallel to the cross section of the solidified layer). The detection mechanism 500 includes a photoelectric sensor, such as a through-beam photoelectric sensor. When the three-dimensional object is completed or partially completed, the photoelectric sensor can be used to scan the three-dimensional object on the forming platform 100. Specifically, the scanning can be performed after a round of printing operation is completed (that is, a group of three-dimensional objects are completed), or after a certain layer of solidified layer is printed and separated from the bottom of the tray 200. The photoelectric sensor is controlled to scan in a direction parallel to the cross section at the height of the model with known cross-sectional information. If the photoelectric sensor scans the actual object, the light path it emits is blocked. By calculating the blocked information, the blocked length or the length list (when the cross section is intermittent, it is a length list), that is, the length in the scanning direction, can be calculated. By comparing the length list and the corresponding cross-sectional information, it can be determined whether the three-dimensional object has fallen.

[0195] The scanning process may be achieved by controlling the movement of the photoelectric sensor, or by controlling the movement of the forming platform 100 , or by controlling the movement of both the photoelectric sensor and the forming platform 100 at the same time.

[0196] For example, the expected length of the cross section corresponding to the solidified layer in a predetermined direction parallel to the cross section is L. The photoelectric sensor passes the build platform 100 at a certain speed, or the build platform 100 passes the photoelectric sensor at a certain speed. At this time, the part of the three-dimensional object will block the photoelectric sensor and cause the signal to change. The actual length L1 within the range is analyzed based on the duration of the signal 1 or 0. The expected length L is compared with the actual length L1. If they are close, it is normal. If the difference is large, it indicates that the board has dropped. The expected length L can be obtained or analyzed from the print data file, and L1 is the actual length.

[0197] In another optional embodiment, the step of determining whether the three-dimensional object on the building platform 100 has fallen in step S208 includes:

[0198] Step S2085 , controlling the image sensor to collect contour information of the current three-dimensional object on the forming platform 100 ;

[0199] Step S2086 , determining whether the three-dimensional object on the building platform 100 has fallen off based on a comparison result of the contour information of the current three-dimensional object on the building platform 100 and the contour of the model corresponding to the printing data.

[0200] In this embodiment, the detection mechanism 500 includes an image sensor. After a round of printing operations is completed, or during a round of printing operations, images of the printing area of the shaping platform 100 are captured from one or more angles, and the images are compared with the preset three-dimensional object images in the current printing stage. Based on an image recognition algorithm, the differences between the two are analyzed, and a difference degree is obtained. If the difference degree is greater than the preset value, that is, the difference between the actually formed three-dimensional object and the preset formed three-dimensional object is large, it is determined that the three-dimensional object has fallen off.

[0201] Among them, the preset images can be obtained based on the printing data file and the captured angles. It should be noted here that when there are multiple shooting angles, the average value of the difference degrees corresponding to the images of multiple angles can be obtained, and it is determined whether the three-dimensional object has fallen off according to the difference between the average value and the preset value.

[0202] In another optional embodiment, the step of determining whether the three-dimensional object on the shaping platform 100 has fallen off in step S208 includes:

[0203] Step S2087, during the process of the picking mechanism 600 picking up the object, obtain the driving force and / or power of the picking mechanism 600;

[0204] Step S2088, determine whether the three-dimensional object on the shaping platform 100 has fallen off according to the driving force and / or power of the picking mechanism 600.

[0205] It can be understood that after the printing is normally completed, the picking mechanism 600 will pick up the printed three-dimensional object from the shaping platform 100. Since there is an adhesion force between the three-dimensional object and the shaping platform 100, the picking mechanism 600 requires a certain driving force to successfully pick up the object. If the three-dimensional object has fallen off, the adhesion area of the three-dimensional object attached to the shaping platform 100 is reduced, or there is no three-dimensional object attached to the shaping platform 100, and at this time the required picking force will be reduced.

[0206] Taking the picking mechanism 600 including a scraper and a scraper driving part as an example, the detection mechanism 500 may include a picking force sensor provided on the picking mechanism 600, and the picking force sensor is used to detect the driving force of the picking mechanism 600 during picking. The driving force can be characterized by the thrust of the scraper and the torque of the scraper driving part. The control mechanism 800 can collect the driving force of the picking mechanism 600 through the picking force sensor. It is also possible to obtain the driving force data curve in real time and make a judgment based on this curve. In addition, the judgment of whether the three-dimensional object has fallen off can also be realized through the power of the scraper driving part.

[0207] The following introduces the specific method for determining whether there are foreign objects in the material tray 200 in step S208.

[0208] Optionally, the step of determining whether there is foreign matter in the tray 200 in step S208 includes:

[0209] Step S2089, obtaining the actual consumption of printing materials for a printing operation;

[0210] In step S20810 , the actual consumption of the printing material is compared with the preset consumption. When the difference between the actual consumption of the printing material and the preset consumption is outside a preset range, it is determined that there is a foreign object in the material tray 200 .

[0211] The preset consumption amount is obtained based on the printing data, or based on the volume of the three-dimensional figure corresponding to a printing operation, or based on the volume of the three-dimensional figure corresponding to a printing operation and the density of the printing material. A printing operation can be the printing of one or more solidified layers, or the printing of one or more groups of three-dimensional objects.

[0212] During the normal printing process, the printing material (such as resin) will gradually be consumed. If the plate falls off, the subsequent three-dimensional object cannot be printed, or cannot be printed completely, resulting in abnormal printing material consumption. The printing material consumption can be the volume and / or mass of the printing material consumed. The preset value of the printing material consumption can be calculated or directly obtained based on the data stored in the three-dimensional printing data file, or the volume or weight of the corresponding three-dimensional object can be obtained from the three-dimensional graphic file of the three-dimensional object (obtained based on the volume and the density of the printing material), and the corresponding expected value of the printing material consumption can be obtained accordingly.

[0213] Optionally, you can obtain the actual consumption of printing materials for a printing process in the following three ways:

[0214] 1) According to the change in the liquid level of the printing material in the material tray 200 before and after a printing operation, the actual consumption of the printing material for a printing operation is determined.

[0215] This approach requires that the detection mechanism 500 include a liquid level sensor, which is used to detect the liquid level of the printing material in the material tray 200 .

[0216] 2) According to the weight change of the material tray 200 before and after a printing operation, the actual consumption of printing material for a printing operation is determined.

[0217] This method requires that the detection mechanism 500 includes a weighing sensor, which is used to detect the weight of the material tray 200.

[0218] 3) When the 3D printer 010 includes an automatic liquid adding mechanism 700, the actual consumption of printing material during a printing session is determined based on the liquid adding status of the automatic liquid adding mechanism 700 during the printing session.

[0219] Specifically, the printing material consumption can be obtained based on the liquid addition situation of the automatic liquid addition mechanism 700, such as the liquid addition amount, the number of liquid additions, and the start-up situation of the liquid addition operation; or the determination of whether the board has dropped can be made based on the start-up situation of the liquid addition operation and the number of liquid additions. It should be noted that in one application scenario, under normal liquid addition conditions, each time a round of printing operation is performed, due to the continuous consumption of printing materials, before the next round of printing operation is started, the automatic liquid addition mechanism 700 will add printing materials to the material tray 200 to meet the printing needs of the next round. If the initial liquid level is high, it may not reach the low liquid level in a short time to trigger automatic liquid addition. In this case, the automatic liquid addition may not be started until more layers have been printed. At this time, it is necessary to monitor the errors of multiple rounds of printing in order to accurately determine the board drop situation.

[0220] In another optional embodiment, the step of determining whether there is foreign matter in the tray 200 in step S208 includes:

[0221] Step S351, controlling the image sensor to collect image information in the tray;

[0222] Step S352: Determine whether there is any foreign matter in the tray based on the image information in the tray.

[0223] In this embodiment, the detection mechanism 500 is required to include an image sensor. Specifically, after a printing cycle is completed, the tray 200 can be photographed from one or more angles, and the images must include the interior of the tray 200. Based on the captured images, an image recognition algorithm is used to determine whether the tray 200 contains foreign matter that is different from the printing material. Specifically, this determination can be made by acquiring image data for each region of the image, such as at least one of grayscale, brightness, transmittance, illumination, luminous flux, and color gamut, and performing comparative analysis on the acquired image data.

[0224] Among them, for translucent printing materials, such as translucent resin, images can be obtained by photographing from the top of the material tray 200; for opaque or poorly translucent printing materials, images can be obtained by photographing from the bottom of the material tray 200.

[0225] In another optional embodiment, the step of determining whether there is foreign matter in the tray 200 in step S208 includes:

[0226] When the molding platform 100 cannot move to the target position due to insufficient displacement distance during the process of moving to the target position, it is determined that there is a foreign object in the material tray 200 .

[0227] In this embodiment, the detection mechanism 500 includes a displacement sensor for detecting the displacement of the forming platform 100. It can be understood that before printing each curing layer, the lifting assembly 300 needs to drive the forming platform 100 to move towards the bottom of the material tray 200 to a target position for printing. The theoretical movement distance of the forming platform 100 from the starting position to the target position can be recorded as L. If a three-dimensional object falls between the material tray 200 and the forming platform 100, it will block the movement of the forming platform 100 to the target position. For example, when the lifting assembly 300 drives the forming platform 100 to move to L1 (L1 < L), due to the certain thickness of the foreign object in the material tray 200, it will be blocked and cannot continue to drive the forming platform 100 to move, that is, the situation where it cannot move to the target position occurs. When it is analyzed that the reason for the movement failure is that the displacement distance of the forming platform 100 driven by the lifting assembly 300 is insufficient (for example, the difference from the theoretical movement distance L is greater than a threshold, such as 0.001 mm), it can be determined that there is a foreign object in the material tray 200.

[0228] In another optional embodiment, the step of determining whether there is a foreign object in the material tray 200 in step S208 includes:

[0229] Step S20811, according to a pre-configured detection strategy, cause the ultrasonic detection component to form an ultrasonic detection beam in the material tray 200; [[ID=⑧]]

[0230] Step S20812, determine whether there is a foreign object in the material tray 200 according to the echo delay time and / or echo intensity information of the ultrasonic detection beam.

[0231] In this embodiment, the detection mechanism 500 includes an ultrasonic detection component. FIG. 7 is a schematic diagram of the arrangement of the ultrasonic probe 510 in the first embodiment of the present application. As shown in FIG. 7, the ultrasonic detection component may include a plurality of ultrasonic probes 510 arranged on the material tray 200, and the ultrasonic probes 510 can generate a plurality of ultrasonic detection beams in the material tray 200. Through this arrangement method, an ultrasonic detection beam can be effectively formed in the material tray 200, and the ultrasonic detection component is prevented from blocking the light beam of the illumination component 400. In this embodiment, the plurality of ultrasonic probes 510 are arranged in at least one row, the plurality of ultrasonic detection beams are parallel to each other, and the formed ultrasonic detection plane is parallel to the bottom of the material tray 200. When the ultrasonic detection beam detects a foreign object, the echo signal will change. Therefore, it can be determined whether there is a foreign object in the material tray 200 according to the echo delay time and / or echo intensity information of the ultrasonic detection beam.

[0232] FIG8 is a schematic diagram of the arrangement of ultrasonic probes 510 in a second embodiment of the present application. As shown in FIG8 , the ultrasonic detection assembly optionally includes at least one row of first ultrasonic probes 521, which are configured to form a first detection beam propagating in a first direction. Multiple first ultrasonic probes 521 in the same row are arranged in a second direction, with the first direction being perpendicular to the second direction. Furthermore, the ultrasonic detection assembly also includes at least one row of second ultrasonic probes 522, which are configured to form a second detection beam propagating in a second direction. Multiple second ultrasonic probes 522 in the same row are arranged in the first direction. The tray 200 can be a rectangular tray 200, i.e., the tray 200 has a rectangular bottom wall, with a side wall disposed on each of its four sides (a total of four side walls), two of which are spaced apart in the first direction, and the other two side walls are spaced apart in the second direction. At least one of the two side walls spaced apart in the first direction is provided with at least one row of first ultrasonic probes 521, and at least one of the two side walls spaced apart in the second direction is provided with at least one row of second ultrasonic probes 522. As shown in FIG7 , a row of first ultrasonic probes 521 are respectively provided on two side walls spaced apart in the first direction of the tray 200, and a row of second ultrasonic probes 522 are respectively provided on two side walls spaced apart in the second direction of the tray 200. In other optional embodiments, the first ultrasonic probe 521 may be provided on only one of the two side walls spaced apart in the first direction, and the second ultrasonic probe 522 may be provided on only one of the two side walls spaced apart in the second direction.

[0233] Optionally, the ultrasonic detection assembly includes multiple rows of first ultrasonic probes 521 and / or multiple rows of second ultrasonic probes 522 arranged in a third direction, and the third direction is perpendicular to the first direction and the second direction. In Figure 8, the first direction is the front-to-back direction, the second direction is the left-to-right direction, and the third direction is the up-down direction. It can be understood that if there is a thinner foreign object in the tray 200, such as a smaller size in the second direction, if the foreign object is present between the detection beams of the two first ultrasonic probes 521, the foreign object cannot effectively reflect the sound waves, and the foreign object may be missed. By providing the second ultrasonic probe 522, it can form an interwoven detection beam together with the first ultrasonic probe 521, thereby improving the missed detection problem existing in single-direction sound beam detection.

[0234] Optionally, the detection mechanism 500 further includes a longitudinal ultrasonic detection component (not shown in the figure), which is used to form a longitudinal ultrasonic detection beam propagating in a third direction in the tray 200. When the longitudinal ultrasonic detection component is provided, the control mechanism 800 is further used to obtain three-dimensional structural information of the foreign matter, such as the three-dimensional size and morphology of the foreign matter, based on the ultrasonic detection beam and the echo of the longitudinal ultrasonic detection beam when it is determined that there is a foreign matter in the tray 200. The longitudinal ultrasonic detection component can be provided below the tray 200 or inside the bottom wall of the tray 200. The longitudinal ultrasonic detection component can include a plurality of ultrasonic probes 510 arranged in an array on the same horizontal plane, so that the detection range of the longitudinal ultrasonic detection component covers the entire accommodating cavity of the tray 200.

[0235] Optionally, the detection mechanism 500 further includes a scanning drive assembly, which is in transmission connection with the ultrasonic detection assembly and is used to drive the ultrasonic detection assembly to move along a preset path relative to the tray 200. Figure 9 is a schematic diagram of the layout of the ultrasonic probe 510 according to the third embodiment of the present application; Figure 10 is a schematic diagram of the layout of the ultrasonic probe 510 according to the fourth embodiment of the present application. As shown in Figures 9 and 10, the tray 200 is provided with a guide rail 541 extending along a preset path. The ultrasonic detection assembly slidably engages with the guide rail 541, and the scanning drive assembly is used to drive the ultrasonic detection assembly along the guide rail 541. By providing the scanning drive assembly, the ultrasonic detection assembly can be driven to scan the receiving cavity of the tray 200, thereby requiring fewer ultrasonic probes 510 to detect foreign objects within the tray 200. Specifically, the rails are provided on two side walls of the tray 200 spaced apart in a first direction, and the rails extend along a second direction, meaning that the preset direction is the second direction. In the embodiment of FIG8 , the multiple ultrasonic probes 510 of the ultrasonic detection assembly are arranged on a slider 542 at intervals along the second direction (left-right direction), and the slider 542 slidably engages with the guide rail 541. In the embodiment of FIG10 , the multiple ultrasonic probes 510 of the ultrasonic detection assembly are arranged on the slider 542 at intervals along the third direction (vertical direction). When the slider 542 moves along the guide rail 541, the ultrasonic detection assembly can scan a larger spatial volume at a time, thereby improving detection efficiency.

[0236] It should be understood that in other optional embodiments, the preset path is not limited to the straight line segment along the second direction in the embodiments of Figures 9 and 10. In some other embodiments, the preset path can be other path structures such as C-shape, S-shape, etc., and accordingly, the extension direction of the guide rail 541 should match the preset path.

[0237] FIG11 is a schematic diagram illustrating the arrangement of ultrasound probes 510 in a fifth embodiment of the present application. As shown in FIG11 , in some embodiments, multiple ultrasound probes 510 may not be disposed on the same slider 542 and driven synchronously by a scanning drive assembly. Instead, the multiple ultrasound probes 510 may be slidably engaged with guide rails 541 and independently moved along the guide rails 541.

[0238] In the above embodiments, the ultrasonic detection assembly is positioned on the sidewalls of the tray 200. When ultrasonic probes 510 are positioned on two opposing sidewalls of the tray 200, the probes 510 on the opposing sidewalls can be staggered according to the probe beam angle parameters to ensure uniform distribution of the detection beam within the receiving cavity of the tray 200. Furthermore, the ultrasonic probes 510 can be positioned on either the inner or outer surface of the tray 200's sidewalls. Close contact between the ultrasonic probes 510 and the sidewalls, i.e., no air gap between them, prevents acoustic energy loss caused by the air interface and affects the accuracy of the detection results. The number of ultrasonic probes 510 can be determined based on the dimensions of the tray 200 (e.g., the length of the tray 200's sidewalls) and the beam angles of the ultrasonic probes 510. In alternative embodiments, the tray 200 can have a non-rectangular shape, such as a circle. In this case, the ultrasonic probes 510 of the ultrasonic detection assembly can be positioned around the tray 200's sidewalls. The ultrasound probes 510 may also be arranged in a regular or irregular manner rather than in an array according to needs.

[0239] The ultrasonic probe 510 and the material tray 200 can be an integrated structure, that is, the ultrasonic probe 510 and the material tray 200 cannot be disassembled and are assembled in the 3D printer 010 as an integral component. In addition, the ultrasonic probe 510 and the material tray 200 can also be a separate structure, that is, the two can be detachably connected. Compared with the integrated structure, the separate structure is more flexible. When installing the ultrasonic probe 510, the installation position and number of the ultrasonic probe 510 can be freely adjusted according to the size of the material tray 200, the parameters of the ultrasonic probe 510, the characteristics of the printing material, and the preset ultrasonic detection resolution. Moreover, the ultrasonic probe 510 is not bound to the material tray 200, and the material tray 200 or the ultrasonic probe 510 can be replaced independently, thereby reducing the manufacturing cost of the printing material tray 200. In contrast, for the integrated structure, when the material tray 200 or the ultrasonic probe 510 needs to be replaced, it can be directly replaced as a whole without the need to reinstall or even adjust the position of the probe after replacement, and the operation is highly convenient; the integrated structure can more easily achieve close contact between the ultrasonic probe 510 and the side wall of the material tray 200, and has low dependence on the use of coupling agent to isolate the air between the ultrasonic probe 510 and the side wall of the material tray 200, and even no coupling agent is required.

[0240] In other optional embodiments, the ultrasonic detection component can also be arranged outside the tray 200 and spaced apart from the outer surface of the side wall of the tray 200. In this case, the ultrasonic detection beam should pass through the side wall of the tray 200 to detect foreign matter in the tray 200.

[0241] Optionally, the resolution of the detection mechanism 500 in the embodiment of the present application is 0.1μm to 1cm, that is, it can detect foreign matter with a minimum size of less than 1mm. In the embodiment of the present application, when the number of foreign matter in the tray 200 is multiple, the detection mechanism 500 can detect the number of foreign matter. Specifically, the resolution of the detection mechanism 500 includes lateral resolution and longitudinal resolution. The lateral resolution refers to the minimum distance between two foreign matter on the interface perpendicular to the sound beam, and the longitudinal resolution refers to the minimum distance between two foreign matter located on the ultrasonic axis. In the embodiment of the present application, optionally, the lateral resolution of the ultrasonic probe 510 of the detection mechanism 500 is less than 1mm, and the longitudinal resolution is less than 1mm.

[0242] Optionally, the frequency range of the ultrasonic detection beam and the longitudinal ultrasonic detection beam is not less than 20 kHz, for example, 20 kHz to 200 MHz. The frequency of the ultrasonic detection beam and the longitudinal ultrasonic detection beam can be determined based on at least one of the properties of the printing material (such as viscosity, density, solid-liquid density difference), the structure of the material tray 200 (such as shape and size), and the required resolution and resolution.

[0243] Based on the structure of the material tray and the ultrasonic detection assembly in the above embodiment, in step S361, the ultrasonic detection beam may include at least one row of first detection beams propagating in the first direction, and multiple first detection beams belonging to the same row are arranged in the second direction, and the first direction is perpendicular to the second direction. This arrangement of ultrasonic detection beams can be implemented by the embodiments of Figures 6 and 7. Further, the ultrasonic detection beam may include multiple rows of first detection beams arranged in a third direction, and the third direction is perpendicular to the first direction and the second direction. Optionally, the first direction and the second direction can be two horizontal directions perpendicular to each other, and the third direction can be a vertical direction (i.e., the direction of gravity). When the material tray 200 is placed normally, its bottom is horizontal and the opening is vertically facing upward.

[0244] By forming multiple first probing beams, the first probing beams can be distributed as much as possible within the space of the tray 200, thereby reducing detection blind spots and missed detections. Optionally, when first ultrasonic probes 521 are provided on two side walls of the tray 200 that are opposite in the first direction, the first probing beams emitted from the two side walls can be staggered, making the first probing beams more evenly distributed.

[0245] Furthermore, the ultrasonic detection beam may also include at least one row of second detection beams propagating in the second direction, with multiple second detection beams belonging to the same row arranged in the first direction. This can be specifically implemented using the embodiment of Figure 7. By forming at least one row of second detection beams, they can be interwoven with the first detection beam, avoiding the problem of thinner foreign objects being difficult to detect in a single detection direction, thereby improving detection accuracy and reducing false detections and missed detections. Optionally, the ultrasonic detection beam includes multiple rows of second detection beams arranged in a third direction, the third direction being perpendicular to the first and second directions.

[0246] Optionally, the detection strategy in step S20811 is configured to control multiple ultrasonic probes to sequentially and gradually form ultrasonic detection beams or to synchronously form ultrasonic detection beams. In other words, each ultrasonic probe 510 in the ultrasonic detection assembly can emit ultrasonic detection beams simultaneously or sequentially. For example, in the embodiment of FIG8 , each row of first ultrasonic probes 521 sequentially emits a row of first detection beams, and then each row of second ultrasonic probes 522 sequentially emits a row of second detection beams. When forming each row of first detection beams or second detection beams, each probe can emit the detection beams simultaneously or sequentially.

[0247] Optionally, the detection strategy is further configured to: control the ultrasonic detection beam to scan along a preset path within the tray 200. Taking the embodiments of Figures 9 to 11 as an example, the control mechanism 800 can control the scanning drive unit to drive at least part of the ultrasonic probe 510 of the ultrasonic detection assembly to move, thereby changing the position of the ultrasonic detection beam. This method can reduce the number of ultrasonic probes 510 in the ultrasonic detection assembly, and ensure that as many positions as possible in the accommodating cavity of the tray 200 can be detected by scanning. The preset scanning path can be a straight line segment (for example, along one of the first direction, the second direction, and the third direction), or it can be a path of other shapes such as a C-shape or an S-shape.

[0248] The detection strategy is further configured to determine the frequency of the ultrasonic detection beam based on the characteristics of the printing material, the structural features of the tray, and at least one of the desired resolution and resolution. Optionally, the frequency range of the ultrasonic detection beam is 20 kHz to 200 MHz. It is understood that the selection of the ultrasonic detection beam frequency will affect detection accuracy and effectiveness. The appropriate ultrasonic detection beam frequency should be selected based on factors such as the size of the desired foreign object, the dimensions of the tray 200, and the physical properties of the printing material. For more detailed principles, please refer to the previous description of the detection beam frequency.

[0249] Step S20812 determines whether there is foreign matter in the tray based on the echo delay time and / or echo intensity information of the ultrasonic detection beam, specifically including:

[0250] Obtain the echo delay time of the ultrasonic detection sound beam; determine whether the echo delay time is within a preset delay threshold range; if so, determine that there is no foreign matter in the tray; otherwise, determine that there is a foreign matter in the tray.

[0251] During the propagation of the probe beam, if it encounters two interfaces with different acoustic impedances, a portion of the beam will return to the first medium, i.e., reflect at the interface. Therefore, the probe beam will reflect when passing through interfaces such as the tray 200-liquid printing material and the liquid printing material-solid foreign matter, generating an echo signal that can be received by the ultrasonic probe 510. This step specifically calculates the delay time and strength of the echo of the probe beam received by the ultrasonic probe 510 of the horizontal ultrasonic detection assembly relative to the emitted probe beam.

[0252] Specifically, during ultrasonic testing, the ultrasonic probe 510 emits one or more ultrasonic waves in a specific direction. By monitoring the echo delay, non-liquid foreign matter that could affect printing within the liquid printing material in the tray 200 can be determined. Since the dimensions of the tray 200 are fixed, and given the same printing material, the echo delay is constant when there is no foreign matter within the tray 200. However, if there is a foreign matter within the tray 200, the echo delay of the ultrasonic probe 510 corresponding to the probe beam covering the foreign matter will deviate. Therefore, the presence, location, and even size of the foreign matter can be determined. Therefore, step S362 may specifically include: obtaining the echo delay of the ultrasonic probe beam; comparing the echo delay with a preset standard delay for no residue or foreign matter to obtain a time deviation; and determining whether the time deviation falls within a preset time threshold. If so, it is determined that there is no foreign matter within the tray; otherwise, it is determined that there is a foreign matter within the tray.

[0253] Optionally, the preset threshold range is a threshold range with the reference value as the midpoint, and the reference value is the echo delay time of the ultrasonic detection sound beam when there is no foreign matter in the tray 200. It can be understood that if there is no foreign matter in the tray 200, then theoretically the echo delay time should be equal to the reference value. Taking into account the system error of the detection, it can be considered that when the echo delay time is within a certain deviation around the reference value, it can be determined that there is no foreign matter in the tray 200. Therefore, in this embodiment, the preset threshold range is set to a threshold range with the reference value as the midpoint. In other optional embodiments, the setting method of the preset threshold range can be adjusted accordingly according to actual conditions.

[0254] The ultrasonic probe 510 can emit ultrasonic waves after obtaining the excitation pulse. At the same time, the ultrasonic probe 510 is controlled by the focusing delay circuit to realize the acoustic focusing of the detection sound beam. Then, after a period of delay, the ultrasonic probe 510 receives the reflected echo signal. After filtering, logarithmic amplification and other signal processing, the DSC circuit converts it into a digital signal and compares it with the preset threshold range stored in the control mechanism 800 to determine whether there is foreign matter in the material tray 200.

[0255] In another optional embodiment, step S20812 determines whether there is a foreign object in the tray based on the echo delay time and / or echo intensity information of the ultrasonic detection beam, specifically including:

[0256] Obtain the echo intensity information of the ultrasonic detection sound beam; determine whether there is foreign matter in the material tray based on the echo intensity information.

[0257] Furthermore, judging whether there is foreign matter in the tray based on the echo intensity information includes:

[0258] When the echo intensity information is a strong echo, it is determined that a solid foreign body exists; when the echo intensity information is a weak echo, it is determined that a semi-solidified foreign body exists; when the echo intensity information is no echo, it is determined that no foreign body exists.

[0259] If the 3D printer includes an information output device, the printer control method may optionally further include controlling the information output device to output echo intensity information of the ultrasonic detection beam. Outputting the echo intensity information of the ultrasonic detection beam by the information output device allows a user to intuitively understand the echo intensity during the current detection process.

[0260] Optionally, after acquiring the echo intensity information of the ultrasonic detection beam, the printer control method further includes:

[0261] The echo intensity information is converted into an echo image; based on the echo image, it is determined whether there is a foreign object in the tray, and the echo image is displayed; wherein different echo intensity information corresponds to different grayscale values ​​in the echo image.

[0262] Specifically, when the information output device is a display screen, the step of controlling the information output device to output the echo intensity information of the ultrasonic detection beam may include: controlling the information output device to display an echo intensity image of the ultrasonic detection beam, wherein the grayscale value of the echo intensity image is positively or negatively correlated with the echo intensity of the ultrasonic detection beam. The grayscale value ranges from 0 to 255, where a grayscale value of 0 represents black and a grayscale value of 255 represents white.

[0263] In this embodiment, the user can use the visual image to determine whether there are foreign objects in the tray 200. Specifically, the control mechanism 800 (such as a CPU) performs further image processing on the echo converted into a digital signal. The control mechanism 800 generates grayscale according to a certain rule (algorithm), and then combines it with the chart formation circuit and the measurement circuit to synthesize a visual image and present it on the display screen. The user can determine whether there are foreign objects based on the grayscale of the image on the display screen.

[0264] For example, judging the presence, type, and shape of foreign matter based on the echo intensity image follows the following rules:

[0265] 1) White represents a strong echo. When ultrasound waves encounter a hard object such as a solid foreign object (such as a dropped solidified print), they are almost completely reflected. The ultrasound probe 510 receives almost the entire emitted detection beam, resulting in a white (strong echo) appearance on the image.

[0266] 2) Light gray represents weak echoes. When ultrasound waves encounter semi-solid, soft foreign bodies, they are partially reflected. Ultrasound probe 510 receives part of the sound beam, which appears as light gray (weak echoes) on the image.

[0267] 3) Black represents no echo. When the ultrasonic wave encounters the liquid printing material in the tray 200, it will almost completely pass through without any reflection. The ultrasonic probe 510 cannot receive the emitted sound beam, so it appears black (no echo) on the image.

[0268] It should be understood that in the above example, the relationship between the grayscale value and the echo intensity is positively correlated. In other embodiments, the relationship between the relevant grayscale value and the echo intensity can also be negatively correlated, that is, white on the image represents no echo, and black on the image represents a strong echo.

[0269] When it is determined that there is no foreign matter in the material tray 200, it can be further determined whether the actual number of printing layers is equal to the total number of model slice layers. If so, the printing is terminated; otherwise, the next foreign matter detection is performed or the next foreign matter detection is performed after the set conditions are met (for example, the printing of the preset number of layers is further completed).

[0270] In this embodiment of the present application, 3D printer 010 prints layer by layer to form a printed part on build platform 100. Therefore, the detection strategy in step S20811 can be configured to execute an ultrasonic detection instruction after the 3D printer prints a preset target number of layers, causing the detection mechanism to form an ultrasonic detection beam within the material tray. The target number of layers can be manually set by the user or directly recorded in the 3D print data.

[0271] The target number of layers refers to the number of layers for ultrasonic testing. This means that ultrasonic testing begins after the printer prints the target number of layers. The preset number of layers can be set as needed, such as 10, 50, 100, 200, or 500 layers. The preset target layer interval can be set to a constant value, n. For example, the 3D printer 010 performs foreign object detection every n layers it prints. For example, if n = 10, the target layer interval would be 10, 20, 30, 40, etc. The target layer interval can also be set to a variable value, such as one that changes according to a specific pattern. For example, for the first 100 layers, the residue detection function is enabled every 10 layers printed; after printing 100 layers, the detection function is enabled every 100 layers printed. This is because the problem of printed part detachment is more likely to occur in the initial printing phase. Therefore, the detection and judgment frequency is relatively high in the initial printing phase, while the detection and judgment frequency is relatively low in the later stages of printing.

[0272] In other embodiments, real-time detection and judgment can be performed without setting a preset number of layers. In such embodiments, the detection strategy can be configured to: after the 3D printer is started, control the detection mechanism 500 to continuously emit ultrasonic detection beams, and the foreign matter situation can be analyzed in combination with the detection results of the detection mechanism 500 and the operating stage of the 3D printer 010.

[0273] Furthermore, the step of determining whether the three-dimensional object on the forming platform has fallen in step S208 may also include: forming a longitudinal ultrasonic detection beam in the material tray 200; when it is determined that there is foreign matter in the material tray 200, obtaining the three-dimensional structural information of the foreign matter based on the echo of the ultrasonic detection beam and the longitudinal ultrasonic detection beam.

[0274] Specifically, the control mechanism 800 can control the longitudinal ultrasonic detection component to emit a longitudinal ultrasonic detection beam. Combined with the ultrasonic detection beam, the control mechanism 800 can further calculate the three-dimensional structural information of the foreign matter, such as the three-dimensional size and shape of the foreign matter, based on the echo of the ultrasonic detection beam and the longitudinal ultrasonic detection beam.

[0275] Optionally, the printer control method further includes: outputting a prompt message and / or an alarm message when an abnormality is determined between the material tray and the build platform. The prompt message may be a visual message, such as a display screen displaying a prompt indicating the presence of a foreign object; a voice message, such as a speaker or buzzer, which emits an audible warning; or a flashing message, such as an indicator light, which flashes or displays a specified color to indicate the presence of a foreign object.

[0276] In summary, the printer control method provided in the embodiment of the present application is applied to a 3D printer 010, which includes a material tray 200 and a forming platform 100, wherein the material tray 200 is used to hold printing materials and the forming platform 100 is used to attach three-dimensional objects. The method includes: obtaining a data queue for manufacturing multiple groups of three-dimensional objects, wherein the data queue at least contains multiple groups of printing data corresponding one-to-one to the multiple groups of three-dimensional objects; manufacturing multiple groups of three-dimensional objects in sequence according to the data queue; determining whether there is an abnormality between the material tray 200 and the forming platform 100; and stopping the step of manufacturing multiple groups of three-dimensional objects in sequence according to the data queue if it is determined that there is an abnormality between the material tray 200 and the forming platform 100. By stopping subsequent printing operations if it is determined that there is an abnormality between the material tray 200 and the forming platform 100, it is possible to avoid the subsequent printing of unqualified products, reduce material waste, and reduce equipment loss. The 3D printer 010 provided in the embodiment of the present application is used to implement the above-mentioned printer control method.

[0277] According to another aspect of the embodiments of the present application, a 3D printing system is provided, including:

[0278] At least two 3D printers configured to perform printing tasks;

[0279] The processing unit is configured to: obtain task information of a task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when a faulty printer in a three-dimensional printing scenario sends an abnormal signal;

[0280] determining a target printer from the at least two 3D printers according to the task information and a target migration strategy, wherein the target migration strategy is used to match the target printer to the task to be migrated;

[0281] The task information is sent to the target printer, and the task to be migrated is added to the task sequence of the target printer.

[0282] Optionally, according to the task information and the target migration strategy, the target printer is determined from at least two 3D printers, including: screening at least one pending printer from the at least two 3D printers, wherein the pending printer is a printer that is online and supports continuous printing function among the at least two 3D printers; according to the task information and the target migration strategy, the target printer is determined from the at least one pending printer.

[0283] Optionally, based on the task information and the target migration strategy, the target printer is determined from at least one pending printer, including: traversing at least one printing task in the tasks to be migrated; for the current printing task in the traversal, the task data of the current printing task is determined from the task information, and based on the task data and the target migration strategy, the target printer corresponding to the current printing task is determined from at least one pending printer; wherein the task data includes at least task association information, printer configuration information, estimated material usage and estimated printing time.

[0284] Optionally, based on the task data and the target migration strategy, the target printer corresponding to the current printing task is determined from at least one pending printer, including: when it is determined according to the task association information that the current printing task is not associated with other tasks, or it is determined according to the printer configuration information that the target allocation constraint is not enabled, then based on the estimated material usage of the current printing task and the estimated total printing time and the remaining amount of printing materials of the remaining tasks on at least one pending printer, the target printer corresponding to the current printing task is determined from at least one pending printer, wherein the target allocation constraint is used to limit at least one printing task in the same task to be migrated to the same printer; or, when it is determined according to the printer configuration information that the target allocation constraint is enabled, then based on the task association information in the task data, other tasks associated with the current printing task are determined; and the printer containing other tasks in at least one pending printer is determined as the target printer corresponding to the current printing task.

[0285] Optionally, based on the estimated material usage of the current printing task and the estimated total printing time and remaining printing material of the remaining tasks on at least one pending printer, the target printer corresponding to the current printing task is determined from at least one pending printer, including: sorting at least one pending printer according to the estimated total printing time to obtain a sorting result; filtering out printers whose remaining printing materials are greater than the estimated material usage from at least one pending printer to obtain a filtering result; based on the filtering result, determining the printer with the shortest estimated total printing time in the sorting result as the target printer corresponding to the current printing task.

[0286] Optionally, obtaining task information of tasks to be migrated includes: responding to an abnormal signal emitted by a faulty printer, determining the tasks to be migrated on the faulty printer, and obtaining task information, wherein the abnormal signal is triggered by an abnormal event in a three-dimensional printing scenario, and the abnormal event includes at least one of: printer device failure, printer zeroing abnormality, and insufficient printing material.

[0287] Optionally, the 3D printer includes a material tray and a forming platform, the material tray is used to hold printing materials, and the forming platform is used to attach three-dimensional objects. The abnormal signal emitted by the faulty printer in the three-dimensional printing scenario includes whether there is an abnormality between the material tray and the forming platform.

[0288] Optionally, the processing unit is configured to: obtain a data queue for manufacturing multiple groups of three-dimensional objects, wherein the data queue contains at least multiple groups of printing data corresponding one-to-one to the multiple groups of three-dimensional objects; manufacture the multiple groups of three-dimensional objects in sequence according to the data queue; determine whether there is an abnormality between the material tray and the forming platform; in response to the abnormality between the material tray and the forming platform, determine the task information of the task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when the faulty printer in the three-dimensional printing scenario sends an abnormality signal indicating that an abnormality occurs between the material tray and the forming platform.

[0289] Optionally, the step of determining whether there is an abnormality between the material tray and the forming platform includes at least one of the following methods: determining whether the three-dimensional object on the forming platform has fallen, and if so, determining that there is an abnormality between the material tray and the forming platform; or determining whether there is foreign matter in the material tray, and if so, determining that there is an abnormality between the material tray and the forming platform.

[0290] Optionally, determining whether the three-dimensional object on the building platform has fallen includes at least one of the following methods:

[0291] The separation force between the solidified layer and the bottom of the tray is obtained during the rising process of the building platform, and the change state of the separation force is used to determine whether the three-dimensional object on the building platform has fallen off.

[0292] The 3D printing system also includes a photoelectric sensor that controls the photoelectric sensor to scan the printing area of ​​the building platform to obtain contour information of the current three-dimensional object on the building platform, and determines whether the three-dimensional object on the building platform has fallen based on a comparison result between the contour information of the current three-dimensional object on the building platform and the contour of the model corresponding to the printing data;

[0293] The 3D printing system further includes an image sensor, which controls the image sensor to collect contour information of the current three-dimensional object on the building platform, and determines whether the three-dimensional object on the building platform has fallen off based on a comparison result between the contour information of the current three-dimensional object on the building platform and the contour of the model corresponding to the printing data; or

[0294] The 3D printer also includes a pickup mechanism, which is used to separate the three-dimensional object on the building platform from the building platform. During the process of the pickup mechanism picking up the object, the driving force and / or power of the pickup mechanism is obtained, and it is determined based on the driving force and / or power of the pickup mechanism whether the three-dimensional object on the building platform has fallen.

[0295] Optionally, determining whether there is foreign matter in the tray includes at least one of the following methods:

[0296] Obtaining actual printing material consumption for a printing operation, comparing the actual printing material consumption with a preset consumption, and determining the presence of foreign matter in the material tray when the difference between the actual printing material consumption and the preset consumption is outside a preset range; wherein the preset consumption is obtained based on printing data, or based on the volume of a three-dimensional graphic corresponding to the printing operation, or based on the volume of the three-dimensional graphic corresponding to the printing operation and the density of the printing material;

[0297] The step of performing a printing job according to the data queue includes controlling the building platform to move to a target position at the bottom of the tray for printing, and determining that a foreign object exists in the tray when the building platform cannot move to the target position due to insufficient displacement distance during the process of moving toward the target position;

[0298] The 3D printing system further includes an image sensor, which controls the image sensor to collect image information in the tray and determines whether there is foreign matter in the tray based on the image information in the tray; or

[0299] The 3D printing system also includes an ultrasonic detection component that, based on a preconfigured detection strategy, generates an ultrasonic detection beam within the tray and determines whether a foreign object is present within the tray based on the echo delay time and / or echo intensity of the ultrasonic detection beam. A task management method for a 3D printer is also provided.

[0300] According to the above-mentioned execution steps of the present application, a solution for automatic migration of printing tasks when the continuous production of a 3D printer is abnormal is also provided. According to the characteristic information of the unfinished printing tasks, each unfinished printing task is migrated one by one according to the migration strategy. In the above-mentioned migration strategy, the printer status and the adaptability of the materials in use to the tasks are first considered, and the unfinished printing tasks are preferentially migrated to the adapted printer with the least remaining printing time. Secondly, the remaining material amount of the target printer is checked. When the remaining material is not enough to complete the above-mentioned unfinished printing tasks, the unfinished printing tasks are sent to the adapted printer with the second least remaining printing time, and so on. After determining the adapted printer, the unfinished printing tasks on the original printer are first deleted, and then the migration action corresponding to the above-mentioned unfinished printing tasks is executed to avoid the problem of repeated printing caused by the original printer retaining the slice file.

[0301] In this embodiment, a task management device for a 3D printer is also provided. This device is used to implement the above-mentioned embodiments and preferred implementations, and details already described will not be repeated. As used below, a "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0302] FIG12 is a structural block diagram of a task management method and apparatus for a 3D printer according to an embodiment of the present application. As shown in FIG12 , the apparatus includes:

[0303] An acquisition module 401 is configured to acquire task information of a task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when a faulty printer in a 3D printing scenario sends an abnormal signal;

[0304] A determination module 402 is configured to determine a target printer from a plurality of candidate printers based on the task information and a target migration strategy, wherein the target migration strategy is configured to match a target printer to a task to be migrated;

[0305] The migration module 403 is configured to send task information to the target printer and add the task to be migrated to the task sequence of the target printer.

[0306] Optionally, the above-mentioned acquisition module 401 is also used to: respond to an abnormal signal sent by a faulty printer, determine the tasks to be migrated on the faulty printer, and obtain task information, wherein the abnormal signal is triggered by an abnormal event in the three-dimensional printing scenario, and the abnormal event includes: printer device failure, printer zeroing abnormality, and insufficient printing material.

[0307] Optionally, the above-mentioned determination module 402 is also used to: screen out at least one pending printer from multiple candidate printers, wherein the pending printer is a printer that is online and supports continuous printing function among the multiple candidate printers; and determine the target printer from at least one pending printer based on task information and target migration strategy.

[0308] Optionally, at least one pending printer is multiple pending printers; the above-mentioned determination module 402 is also used to: traverse and process at least one printing task in the task to be migrated; for the current printing task in the traversal, determine the task data of the current printing task from the task information, and based on the task data and the target migration strategy, determine the target printer corresponding to the current printing task from multiple pending printers.

[0309] Optionally, in the above-mentioned task management method and device for a 3D printer, the task data includes at least task association information, printer configuration information, estimated material usage, and estimated printing time.

[0310] Optionally, the above-mentioned determination module 402 is also used to: when it is determined according to the task association information that the current printing task is not associated with other tasks or when it is determined according to the printer configuration information that the target allocation constraint is not turned on, then based on the estimated material usage of the current printing task and the estimated total printing time and remaining printing material of the remaining tasks on multiple pending printers, determine the target printer corresponding to the current printing task from multiple pending printers, wherein the target allocation constraint is used to limit the allocation of at least one printing task in the same task to be migrated to the same printer.

[0311] Optionally, the above-mentioned determination module 402 is also used to: sort multiple pending printers according to the estimated total printing time to obtain a sorting result; filter out printers with a remaining amount of printing materials greater than the estimated material usage from the multiple pending printers to obtain a screening result; based on the screening result, determine the printer with the shortest estimated total printing time in the sorting result as the target printer corresponding to the current printing task.

[0312] Optionally, the above-mentioned determination module 402 is also used to: when it is determined that the target allocation constraint is turned on according to the printer configuration information, determine other tasks associated with the current printing task according to the task association information in the task data; and determine the printer containing other tasks among the multiple pending printers as the target printer corresponding to the current printing task.

[0313] Optionally, in addition to all the above modules, the task management device for 3D printers also includes a reset module 404 (not shown in the figure), which is used to: after adding the task to be migrated to the task sequence of the target printer, reset the estimated total printing time of the target printer according to the estimated printing time corresponding to the task to be migrated.

[0314] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0315] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, the storage medium including a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any of the aforementioned task management methods for a 3D printer.

[0316] Optionally, in this embodiment, the above-mentioned storage medium can be configured to store a computer program for performing the following steps: obtaining task information of the task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when the faulty printer in the three-dimensional printing scenario issues an abnormal signal; determining the target printer from multiple candidate printers based on the task information and the target migration strategy, wherein the target migration strategy is used to match the target printer for the task to be migrated; sending the task information to the target printer, and adding the task to be migrated to the task sequence of the target printer.

[0317] Optionally, in this embodiment, the above-mentioned storage medium can be configured to store a computer program for performing the following steps: in response to an abnormal signal emitted by a faulty printer, determining the tasks to be migrated on the faulty printer, and obtaining task information, wherein the abnormal signal is triggered by an abnormal event in a three-dimensional printing scenario, and the abnormal events include: printer device failure, printer zeroing abnormality, and insufficient printing material.

[0318] Optionally, in this embodiment, the above-mentioned storage medium can be configured to store a computer program for performing the following steps: screening at least one pending printer from multiple candidate printers, wherein the pending printer is a printer that is online and supports continuous printing function among the multiple candidate printers; determining the target printer from the at least one pending printer based on task information and target migration strategy.

[0319] Optionally, in this embodiment, the above-mentioned storage medium can be configured to store a computer program for performing the following steps: traversing at least one printing task in the tasks to be migrated; for the current printing task in the traversal, determining the task data of the current printing task from the task information, and based on the task data and the target migration strategy, determining the target printer corresponding to the current printing task from multiple pending printers.

[0320] Optionally, in this embodiment, the storage medium may be configured to store a computer program for executing the following steps: the task data includes at least task association information, printer configuration information, estimated material usage, and estimated printing time.

[0321] Optionally, in this embodiment, the above-mentioned storage medium can be configured to store a computer program for performing the following steps: when it is determined based on the task association information that the current printing task is not associated with other tasks or when it is determined based on the printer configuration information that the target allocation constraint is not turned on, then based on the estimated material usage of the current printing task and the estimated total printing time and remaining printing material of the remaining tasks on the multiple pending printers, the target printer corresponding to the current printing task is determined from the multiple pending printers, wherein the target allocation constraint is used to limit the allocation of at least one printing task in the same task to be migrated to the same printer.

[0322] Optionally, in this embodiment, the above-mentioned storage medium can be configured to store a computer program for executing the following steps: sorting multiple pending printers according to the estimated total printing time to obtain a sorting result; screening printers whose remaining printing materials are greater than the estimated material usage from the multiple pending printers to obtain a screening result; based on the screening result, determining the printer with the shortest estimated total printing time in the sorting result as the target printer corresponding to the current printing task.

[0323] Optionally, in this embodiment, the above-mentioned storage medium can be configured to store a computer program for performing the following steps: when it is determined that the target allocation constraint is turned on according to the printer configuration information, other tasks associated with the current printing task are determined according to the task association information in the task data; and a printer containing other tasks among multiple pending printers is determined as the target printer corresponding to the current printing task.

[0324] Optionally, in this embodiment, the above-mentioned storage medium can be configured to store a computer program for performing the following steps: after adding the task to be migrated to the task sequence of the target printer, resetting the estimated total printing time of the target printer according to the estimated printing time corresponding to the task to be migrated.

[0325] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0326] According to another aspect of an embodiment of the present application, a task management system for a 3D printer is provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any one of the aforementioned task management methods for a 3D printer.

[0327] Optionally, in this embodiment, the above-mentioned processor can be configured to perform the following steps through a computer program: obtaining task information of the task to be migrated, wherein the task to be migrated is at least one printing task that is not completed when the faulty printer in the three-dimensional printing scenario sends an abnormal signal; determining the target printer from multiple candidate printers based on the task information and the target migration strategy, wherein the target migration strategy is used to match the target printer for the task to be migrated; sending the task information to the target printer, and adding the task to be migrated to the task sequence of the target printer.

[0328] Optionally, in this embodiment, the above-mentioned processor can be configured to perform the following steps through a computer program: in response to an abnormal signal emitted by a faulty printer, determine the tasks to be migrated on the faulty printer, and obtain task information, wherein the abnormal signal is triggered by an abnormal event in the three-dimensional printing scenario, and the abnormal events include: printer device failure, printer zeroing abnormality, and insufficient printing material.

[0329] Optionally, in this embodiment, the above-mentioned processor can be configured to perform the following steps through a computer program: screening at least one pending printer from multiple candidate printers, wherein the pending printer is a printer that is online and supports continuous printing function among the multiple candidate printers; determining the target printer from the at least one pending printer based on task information and target migration strategy.

[0330] Optionally, in this embodiment, the above-mentioned processor can be configured to perform the following steps through a computer program: traversing at least one printing task in the tasks to be migrated; for the current printing task in the traversal, determining the task data of the current printing task from the task information, and based on the task data and the target migration strategy, determining the target printer corresponding to the current printing task from multiple pending printers.

[0331] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program: the task data includes at least task association information, printer configuration information, estimated material usage, and estimated printing time.

[0332] Optionally, in this embodiment, the above-mentioned processor can be configured to perform the following steps through a computer program: when it is determined based on the task association information that the current printing task is not associated with other tasks or when it is determined based on the printer configuration information that the target allocation constraint is not turned on, then based on the estimated material usage of the current printing task and the estimated total printing time and remaining printing material of the remaining tasks on the multiple pending printers, the target printer corresponding to the current printing task is determined from the multiple pending printers, wherein the target allocation constraint is used to limit the allocation of at least one printing task in the same task to be migrated to the same printer.

[0333] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program: sorting a plurality of pending printers according to an estimated total printing time to obtain a sorting result; screening printers whose remaining printing materials are greater than the estimated material usage from the plurality of pending printers to obtain a screening result; and based on the screening result, determining the printer with the shortest estimated total printing time in the sorting result as the target printer corresponding to the current printing task.

[0334] Optionally, in this embodiment, the above-mentioned processor can be configured to perform the following steps through a computer program: when it is determined that the target allocation constraint is turned on according to the printer configuration information, other tasks associated with the current printing task are determined according to the task association information in the task data; and the printer containing other tasks among the multiple pending printers is determined as the target printer corresponding to the current printing task.

[0335] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program: after adding the task to be migrated to the task sequence of the target printer, resetting the estimated total printing time of the target printer according to the estimated printing time corresponding to the task to be migrated.

[0336] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiment and its optional implementation manners, which will not be repeated here.

[0337] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0338] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0339] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0340] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0341] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0342] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, ROM, RAM, mobile hard drives, magnetic disks or optical disks.

[0343] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application. Industrial Applicability

[0344] The solution provided by the embodiments of the present disclosure can be applied to the field of 3D printing technology. In the embodiments of the present disclosure, task information of a task to be migrated is obtained, wherein the task to be migrated is at least one printing task that was not completed when a faulty printer in a 3D printing scenario issued an abnormal signal; a target printer is determined from multiple candidate printers based on the task information and a target migration strategy, wherein the target migration strategy is used to match the target printer for the task to be migrated; the task information is sent to the target printer, and the task to be migrated is added to the task sequence of the target printer. This application solves the technical problems of the related art that rely on manual task migration processing when a printing task is abnormal, which is inefficient, costly, and has a high risk of delaying printing production tasks.

Claims

1. A task management method for a 3D printer, characterized in that, Including: Obtaining task information of a task to be migrated, where the task to be migrated is at least one printing task that is not completed when an abnormal signal is sent by a faulty 3D printer in a 3D printing scenario; Determining a target printer from multiple candidate printers according to the task information and a target migration strategy, where the target migration strategy is used to match the target printer for the task to be migrated; Sending the task information to the target printer and adding the task to be migrated to the task sequence of the target printer.

2. The task management method according to claim 1, wherein, Obtaining the task information of the task to be migrated includes: In response to the abnormal signal sent by the faulty printer, determining the task to be migrated on the faulty printer and obtaining the task information, where the abnormal signal is generated by an abnormal event in the 3D printing scenario.

3. The task management method according to claim 1, wherein Determining the target printer from the multiple candidate printers according to the task information and the target migration strategy includes: Filtering at least one pending printer from the multiple candidate printers, where the pending printer is a printer that is in an online state and supports the continuous printing function among the multiple candidate printers; Determining the target printer from the at least one pending printer according to the task information and the target migration strategy.

4. The task management method according to claim 3, wherein Determining the target printer from the at least one pending printer according to the task information and the target migration strategy includes: Performing a traversal process on the at least one printing task in the task to be migrated; For the current printing task in the traversal, determining the task data of the current printing task from the task information, and based on the task data and the target migration strategy, determining the target printer corresponding to the current printing task from the at least one pending printer.

5. The task management method according to claim 4, wherein The task data at least includes task association information, printer configuration information, estimated material usage, and estimated printing duration.

6. The task management method according to claim 5, wherein Based on the task data and the target migration strategy, determining the target printer corresponding to the current printing task from the at least one pending printer includes: When it is determined according to the task association information that the current printing task is not associated with other tasks, or when it is determined according to the printer configuration information that the target assignment constraint is not enabled, then determining the target printer corresponding to the current printing task from the at least one pending printer according to the estimated material usage of the current printing task and the estimated total printing duration and remaining printing material amount of the remaining tasks on the at least one pending printer, where the target assignment constraint is used to restrict the assignment of at least one printing task in the same task to be migrated to the same printer.

7. The task management method according to claim 6, characterized in that, Determining the target printer corresponding to the current printing task from the at least one pending printer according to the estimated material usage of the current printing task and the estimated total printing duration and remaining printing material amount of the remaining tasks on the at least one pending printer includes: Sorting the at least one pending printer according to the estimated total printing duration to obtain a sorting result; Screen printers among the at least one printer to be determined with the remaining amount of the printing material being more than the estimated material usage amount, and obtain a screening result; Based on the screening result, determine the printer with the shortest estimated total printing duration in the sorting result as the target printer corresponding to the current printing task.

8. The task management method according to claim 5, characterized in that Determining the target printer corresponding to the current printing task from the at least one printer to be determined based on the task data and the target migration strategy includes: When it is determined that the target allocation constraint is enabled according to the printer configuration information, determine other tasks associated with the current printing task according to the task association information in the task data; Determine the printer among the at least one printer to be determined that includes the other tasks as the target printer corresponding to the current printing task.

9. The task management method according to claim 6, characterized in that The task management method further includes: After adding the task to be migrated to the task sequence of the target printer, reset the estimated total printing duration of the target printer according to the estimated printing duration corresponding to the task to be migrated.

10. The task management method according to claim 1, characterized in that The method further includes: after determining the target printer from multiple candidate printers, delete the task information from the faulty printer.

11. The task management method according to claim 2, wherein The abnormal event includes at least one of printer device failure, printer zero-finding abnormality, and insufficient printing material.

12. The task management method according to claim 1, wherein the 3D printer comprises a material tray and a forming platform, the material tray is used for accommodating printing materials, and the forming platform is used for attaching a three-dimensional object, characterized in that, The faulty printer in the three-dimensional printing scenario sending an abnormal signal includes determining whether there is an abnormality between the material tray and the forming platform, and if there is an abnormality, sending the abnormal signal.

13. The task management method according to claim 12, wherein The method further includes: Obtain a data queue for manufacturing multiple groups of three-dimensional objects, where the data queue at least includes multiple groups of printing data corresponding one-to-one to multiple groups of the three-dimensional objects; Manufacture multiple groups of the three-dimensional objects in sequence according to the data queue; Determine whether there is an abnormality between the material tray and the forming platform; In response to there being an abnormality between the material tray and the forming platform, determine the task information of the task to be migrated, where the task to be migrated is at least one printing task that is not completed when the faulty printer in the three-dimensional printing scenario sends an abnormal signal indicating an abnormality between the material tray and the forming platform.

14. The task management method according to claim 13, wherein, The step of determining whether there is an abnormality between the material tray and the forming platform includes at least one of the following methods: Determine whether the three-dimensional object on the forming platform has fallen. If so, determine that there is an abnormality between the material tray and the forming platform; Determine whether there is a foreign object in the material tray. If so, determine that there is an abnormality between the material tray and the forming platform.

15. The task management method according to claim 14, wherein The step of determining whether the three-dimensional object on the forming platform has fallen includes: Obtain the separation force between the cured layer and the bottom of the material tray during the rising process of the forming platform; Determine whether the three-dimensional object on the forming platform has fallen according to the change state of the separation force.

16. The task management method according to claim 15, wherein The step of determining whether the three-dimensional object on the forming platform has fallen according to the change state of the separation force includes: Establish a correspondence relationship between the separation force and the characteristics of the cross-section of the three-dimensional object by using one of mathematical modeling, simulation, and empirical formulas; Obtain a preset value of the separation force corresponding to the peeling of the cured layer according to the corresponding relationship between the separation force and the characteristics of the cross-section of the three-dimensional object. When the difference between the actual separation force between the cured layer and the bottom of the material tray and the preset value of the separation force is outside the preset range, it is determined that the three-dimensional object on the forming platform has fallen.

17. The task management method according to claim 15, characterized in that The step of judging whether the three-dimensional object on the forming platform has fallen according to the change state of the separation force includes: When the percentage decrease in the separation force of the current cured layer relative to the separation force of the previous cured layer exceeds the preset percentage, it is determined that the three-dimensional object on the forming platform has fallen; and / or When the change amount of the separation force obtained within a unit time or a unit sampling value exceeds the preset change amount threshold, it is determined that the three-dimensional object on the forming platform has fallen.

18. The task management method according to claim 14, wherein The 3D printer further includes a photoelectric sensor. The step of judging whether the three-dimensional object on the forming platform has fallen includes: Controlling the photoelectric sensor to scan the printing area of the forming platform to obtain the contour information of the current three-dimensional object on the forming platform; Judging whether the three-dimensional object on the forming platform has fallen according to the comparison result between the contour information of the current three-dimensional object on the forming platform and the model contour corresponding to the printing data.

19. The task management method according to claim 14, characterized in that The 3D printer further includes an image sensor. The step of judging whether the three-dimensional object on the forming platform has fallen includes: Controlling the image sensor to collect the contour information of the current three-dimensional object on the forming platform; Judging whether the three-dimensional object on the forming platform has fallen according to the comparison result between the contour information of the current three-dimensional object on the forming platform and the model contour corresponding to the printing data.

20. The task management method according to claim 14, wherein The 3D printer further includes a picking mechanism, and the picking mechanism is used to separate the three-dimensional object on the forming platform from the forming platform; The step of judging whether the three-dimensional object on the forming platform has fallen includes: During the picking process of the picking mechanism, obtain the driving force and / or power of the picking mechanism; Judge whether the three-dimensional object on the forming platform has fallen according to the driving force and / or power of the picking mechanism.

21. The task management method according to claim 14, wherein The step of judging whether there is a foreign object in the material tray includes: Obtain the actual consumption amount of the printing material for a printing operation; Compare the actual consumption amount of the printing material with the preset consumption amount. When the difference between the actual consumption amount of the printing material and the preset consumption amount is outside the preset range, it is determined that there is a foreign object in the material tray; Wherein, the preset consumption amount is obtained according to the printing data, or according to the volume of the three-dimensional graphic corresponding to the printing operation, or according to the volume of the three-dimensional graphic corresponding to the printing operation and the density of the printing material.

22. The task management method according to claim 21, characterized in that, The step of obtaining the actual consumption amount of the printing material for a printing operation includes: Determine the actual consumption amount of the printing material for the printing operation according to the change amount of the liquid level of the printing material in the material tray before and after the printing operation; Or, determine the actual consumption amount of the printing material for the printing operation according to the change amount of the weight of the material tray before and after the printing operation; Alternatively, in the case where the 3D printer includes an automatic liquid adding mechanism, determine the actual consumption of the printing material for the printing behavior segment according to the liquid adding situation of the automatic liquid adding mechanism during the printing behavior segment.

23. The task management method according to claim 14, characterized in that, The step of performing a printing job according to the data queue includes controlling the forming platform to move to a target position at the bottom of the material tray for printing; the step of determining whether there is a foreign object in the material tray includes: When the forming platform fails to move to the target position due to insufficient displacement distance during the movement to the target position, it is determined that there is a foreign object in the material tray.

24. The task management method according to claim 14, wherein The 3D printer further includes an image sensor. The step of determining whether there is a foreign object in the material tray includes: Controlling the image sensor to collect image information inside the material tray; Determining whether there is a foreign object in the material tray according to the image information inside the material tray.

25. The task management method according to claim 14, characterized in that The 3D printer further includes an ultrasonic detection component; the step of determining whether there is a foreign object in the material tray includes: According to a pre-configured detection strategy, causing the ultrasonic detection component to form an ultrasonic detection beam inside the material tray; Determining whether there is a foreign object in the material tray according to the echo delay time and / or echo intensity information of the ultrasonic detection beam.

26. The task management method according to claim 25, wherein The detection strategy is configured as: After the 3D printer prints a preset target number of layers each time, execute an ultrasonic detection instruction to cause the ultrasonic detection component to form the ultrasonic detection beam inside the material tray; Or After the 3D printer is started, control the ultrasonic detection component to continuously form the ultrasonic detection beam.

27. The task management method according to claim 13, wherein, The step of determining whether there is an abnormality between the material tray and the forming platform is performed at least before printing according to each set of the printing data or after completing the printing of each set of the printing data.

28. The task management method according to claim 13, wherein The method further includes: outputting a prompt message and / or an alarm message in the case of determining an abnormality.

29. A 3D printing system, characterized in that, Includes: At least two 3D printers, configured to perform printing tasks; A processing unit, configured to: Obtain the task information of the task to be migrated, where the task to be migrated is at least one printing task that is not completed when an abnormal signal is sent by a faulty printer in a three-dimensional printing scenario; According to the task information and a target migration strategy, determine a target printer from the at least two 3D printers, where the target migration strategy is used to match the target printer for the task to be migrated; Send the task information to the target printer, and add the task to be migrated to the task sequence of the target printer.

30. The 3D printing system according to claim 29, wherein, According to the task information and the target migration strategy, determining the target printer from the at least two 3D printers includes: Screening at least one pending printer from the at least two 3D printers, where the pending printer is a printer among the at least two 3D printers that is in an online state and supports the continuous printing function; Determine the target printer from the at least one pending printer according to the task information and the target migration strategy.

31. The 3D printing system according to claim 30, wherein According to the task information and the target migration strategy, determining the target printer from the at least one pending printer includes: Traverse and process the at least one printing task in the task to be migrated; For the current printing task in the traversal, determine the task data of the current printing task from the task information, and based on the task data and the target migration policy, determine the target printer corresponding to the current printing task from the at least one pending printer; Wherein, the task data at least includes task association information, printer configuration information, estimated material consumption, and estimated printing time.

32. The 3D printing system according to claim 31, wherein Based on the task data and the target migration policy, determining the target printer corresponding to the current printing task from the at least one pending printer includes: When it is determined according to the task association information that the current printing task is not associated with other tasks, or when it is determined according to the printer configuration information that the target allocation constraint is not enabled, then according to the estimated material consumption of the current printing task and the estimated total printing duration and remaining printing material amount of the remaining tasks on the at least one pending printer, determine the target printer corresponding to the current printing task from the at least one pending printer, wherein the target allocation constraint is used to restrict the allocation of at least one printing task in the same task to be migrated to the same printer; Or, when it is determined according to the printer configuration information that the target allocation constraint is enabled, then determine other tasks associated with the current printing task according to the task association information in the task data; determine the printer including the other tasks among the at least one pending printer as the target printer corresponding to the current printing task.

33. The 3D printing system according to claim 32, wherein, According to the estimated material consumption of the current printing task and the estimated total printing duration and remaining printing material amount of the remaining tasks on the at least one pending printer, determining the target printer corresponding to the current printing task from the at least one pending printer includes: Sort the at least one pending printer according to the estimated total printing duration to obtain a sorting result; Screen printers from the at least one pending printer whose remaining printing material amount is more than the estimated material consumption to obtain a screening result; Based on the screening result, determine the printer with the shortest estimated total printing duration in the sorting result as the target printer corresponding to the current printing task.

34. The 3D printing system according to claim 29, characterized in that Obtain the task information of the task to be migrated, including: In response to the abnormal signal sent by the faulty printer, determine the task to be migrated on the faulty printer and obtain the task information, wherein the abnormal signal is generated by an abnormal event in the 3D printing scenario, and the abnormal event includes at least one of printer device failure, printer zeroing anomaly, and insufficient printing material.

35. The 3D printing system according to claim 29, wherein the 3D printer comprises a material tray and a forming platform, the material tray is used for accommodating printing materials, and the forming platform is used for attaching a three-dimensional object, characterized in that, The abnormal signal sent by the faulty printer in the 3D printing scenario includes whether there is an abnormality between the material tray and the forming platform.

36. The 3D printing system according to claim 35, wherein, The processing unit is configured to: Obtain a data queue for manufacturing multiple groups of 3D objects, wherein the data queue at least includes multiple groups of printing data corresponding one-to-one to multiple groups of the 3D objects; Manufacture multiple groups of the 3D objects in sequence according to the data queue; Determine whether there is an abnormality between the material tray and the forming platform; In response to an abnormality existing between the material tray and the forming platform, determine the task information of the task to be migrated, where the task to be migrated is at least one printing task that is not completed when a malfunctioning printer in a 3D printing scenario emits an abnormal signal indicating an abnormality between the material tray and the forming platform.

37. The 3D printing system according to claim 36, wherein, The step of determining whether there is an abnormality between the material tray and the forming platform includes at least one of the following methods: Determine whether the three-dimensional object on the forming platform has fallen. If so, it is determined that there is an abnormality between the material tray and the forming platform; Or Determine whether there is a foreign object in the material tray. If so, it is determined that there is an abnormality between the material tray and the forming platform.

38. The 3D printing system according to claim 37, wherein Determining whether the three-dimensional object on the forming platform has fallen includes at least one of the following methods: - Obtain the separation force between the cured layer and the bottom of the material tray during the upward movement of the forming platform, and determine whether the three-dimensional object on the forming platform has fallen according to the change state of the separation force; - The 3D printing system further includes a photoelectric sensor. Control the photoelectric sensor to scan the printing area of the forming platform to obtain the contour information of the current three-dimensional object on the forming platform, and determine whether the three-dimensional object on the forming platform has fallen according to the comparison result between the contour information of the current three-dimensional object on the forming platform and the model contour corresponding to the printing data; - The 3D printing system further includes an image sensor. Control the image sensor to collect the contour information of the current three-dimensional object on the forming platform, and determine whether the three-dimensional object on the forming platform has fallen according to the comparison result between the contour information of the current three-dimensional object on the forming platform and the model contour corresponding to the printing data; or - The 3D printer further includes a picking mechanism for separating the three-dimensional object on the forming platform from the forming platform. During the process of the picking mechanism picking up the object, obtain the driving force and / or power of the picking mechanism, and determine whether the three-dimensional object on the forming platform has fallen according to the driving force and / or power of the picking mechanism.

39. The 3D printing system according to claim 37, wherein Determining whether there is a foreign object in the material tray includes at least one of the following methods: - Obtain the actual consumption of the printing material for a period of printing behavior, compare the actual consumption of the printing material with the preset consumption, and determine that there is a foreign object in the material tray when the difference between the actual consumption of the printing material and the preset consumption is outside the preset range; where the preset consumption is obtained according to the printing data, or according to the volume of the three-dimensional graphic corresponding to the period of printing behavior, or according to the volume of the three-dimensional graphic corresponding to the period of printing behavior and the density of the printing material; - The step of performing a printing operation according to the data queue includes controlling the forming platform to move towards the bottom of the material tray to a target position for printing. When the forming platform fails to move to the target position due to insufficient displacement distance during the movement towards the target position, it is determined that there is a foreign object in the material tray; - The 3D printing system further includes an image sensor, which controls the image sensor to collect image information in the material tray and determines whether there is a foreign object in the material tray according to the image information in the material tray; or - The 3D printing system further includes an ultrasonic detection component, which forms an ultrasonic detection beam in the material tray according to a pre-configured detection strategy and determines whether there is a foreign object in the material tray according to the echo delay time and / or echo intensity information of the ultrasonic detection beam.

Images