阅读说明：本技术 打印控制方法、装置、系统及控制设备 (Printing control method, device and system and control equipment ) 是由 王玲 彭世昌 徐铭恩 于 2019-10-28 设计创作，主要内容包括：本发明提供了一种打印控制方法、装置、系统及控制设备,涉及3D打印技术领域,包括：通过OCT探头获取打印喷头挤压出的丝材的丝材检测参数；基于丝材检测参数和预设的丝材样本参数生成气压控制信息；气压控制信息为用于控制打印喷头在挤压打印材料时的挤出气压的信息；通过OCT探头获取打印层面的表面深度信息；判断表面深度信息是否符合预设的基准深度信息；如果否,根据表面深度信息和基准深度信息生成打印补偿信息；打印补偿信息为用于控制打印喷头挤压打印材料时的移动速度和/或挤出气压的信息；基于打印补偿信息控制打印喷头打印模型。本发明可以降低人力成本,有效控制打印出丝均匀性,从而提升打印模型的质量与稳定性。(The invention provides a printing control method, a device, a system and control equipment, which relate to the technical field of 3D printing and comprise the following steps: acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; generating air pressure control information based on wire detection parameters and preset wire sample parameters; the air pressure control information is information for controlling the extrusion air pressure of the printing nozzle when extruding the printing material; acquiring surface depth information of a printing layer through an OCT probe; judging whether the surface depth information accords with preset reference depth information or not; if not, generating printing compensation information according to the surface depth information and the reference depth information; the printing compensation information is used for controlling the moving speed and/or the extrusion air pressure when the printing nozzle extrudes the printing material; and controlling the printing nozzle to print the model based on the printing compensation information. The invention can reduce the labor cost and effectively control the uniformity of the printed silk, thereby improving the quality and stability of the printing model.)

1. A print control method, characterized in that the method is executed by a control apparatus, the method comprising:

acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe;

generating air pressure control information based on the wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when the printing material is extruded;

acquiring surface depth information of a printing layer surface through the OCT probe; the printing layer surface is a layered surface of a model formed on a printing platform when the printing nozzle performs printing based on the air pressure control information;

judging whether the surface depth information accords with preset reference depth information or not;

if not, determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area;

and controlling the printing nozzle to print the model based on the printing compensation information.

2. The method of claim 1, further comprising:

acquiring a material detection image of a printing material in a feeding mechanism of a printer through an OCT probe;

comparing the material detection image with a preset material reference image to obtain image similarity; wherein the material reference image is an image of a printed material sample;

carrying out flow distribution control on the printing material based on the image similarity to obtain a prepared printing material; wherein the ready-to-print material is a print material meeting a preset quality standard;

controlling the feeding mechanism to convey the preliminary printing material to the printing nozzle.

3. The method according to claim 2, wherein the step of performing diversion control on the printing material based on the image similarity includes:

if the image similarity is larger than a preset similarity threshold, generating first valve control information; the first valve control information is information for controlling the feeding mechanism to flow the printing material to a first branch channel, and the first branch channel is communicated with the printing nozzle.

4. The method of claim 1, further comprising:

when the OCT probe arranged above the printing platform is static, acquiring a B-Scan image of the printing platform through the OCT probe, and extracting a first depth distribution value of the B-Scan image;

adjusting a horizontal mounting angle of the OCT probe relative to the print platform based on the first depth profile value;

when the OCT probe moves along with the printing nozzle, acquiring an A-Scan image of the printing platform through the OCT probe, and extracting a second depth distribution value of the A-Scan image;

adjusting a horizontal installation angle of the printing platform based on the second depth distribution value.

5. The method of claim 1, further comprising:

if the surface depth information accords with preset reference depth information, generating platform descending information; the platform descending information is information for controlling the printing platform to descend for a preset distance.

6. The method of claim 1, wherein the method of setting the filament sample parameters comprises:

acquiring an image of a wire sample extruded by the printing nozzle through the OCT probe;

detecting the image of the wire sample by adopting an image processing algorithm to obtain a diameter distribution value of the wire sample;

determining a wire standard diameter and a standard diameter deviation of the wire sample from the diameter distribution value;

setting the wire standard diameter and the standard diameter deviation as the wire sample parameters.

7. A print control apparatus, characterized in that the apparatus is provided to a control device, the apparatus comprising:

the wire detection parameter acquisition module is used for acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe;

the air pressure control module is used for generating air pressure control information based on the wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when the printing material is extruded;

the depth information acquisition module is used for acquiring the surface depth information of the printing layer surface through the OCT probe; the printing layer surface is a layered surface of a model formed on a printing platform when the printing nozzle performs printing based on the air pressure control information;

the judging module is used for judging whether the surface depth information accords with preset reference depth information or not;

the printing compensation control module is used for determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information under the condition that the surface depth information does not accord with the reference depth information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area;

and the model printing module is used for controlling the printing nozzle to print the model based on the printing compensation information.

8. A control apparatus, characterized in that the apparatus comprises: a processor and a storage device;

the storage device has stored thereon a computer program which, when executed by the processor, performs the method of any of claims 1 to 6.

9. A printing control system, characterized in that the system comprises the control device of claim 8, and further comprises a printer and an OCT probe connected to the control device.

10. The system of claim 9, wherein the printer comprises a material recovery device and a feed mechanism for delivering printing material to the print head;

the feeding mechanism comprises a material container, the bottom of the material container is communicated with the inlet end of a detection pipeline, the outlet end of the detection pipeline is respectively communicated with a first branch channel and a second branch channel which are separated through valves, the first branch channel is communicated with the printing spray head through a guide pipe, and the second branch channel is communicated with a material recovery device through a guide pipe;

the OCT probe is at least one, when the OCT probe is one, the arrangement position of the OCT probe is moved through a transmission device, and the arrangement position of the OCT probe comprises the position above a printing platform of the printer and the side surface of the detection pipeline.

Technical Field

The invention relates to the technical field of 3D printing, in particular to a printing control method, a printing control device, a printing control system and a printing control device.

Background

The 3D printing technology is an accumulative manufacturing technology, and based on a rapid prototyping and layering manufacturing principle, materials/cells can be positioned and assembled according to a design to form a three-dimensional structure.

Printing materials for biological 3D printers are generally non-rigid body wires, and when the printing layer surface collapses when the printing is accumulated layer by layer, the printing materials are uneven, and impurities or bubbles exist, the printing process can be broken, and the like. Therefore, in the printing process, technicians are required to observe the wire outlet uniformity in the 3D printing process and manually intervene in the working process of the printer to ensure better model printing quality. The mode of relying on manual observation and manual intervention not only consumes labor cost, but also can not carry out quantitative judgment on the uniformity of the output silk, so that the uniformity of the output silk is poor, and the quality and the stability of a printing model are directly influenced.

Disclosure of Invention

The invention aims to provide a printing control method, a printing control device, a printing control system and a printing control device, which can reduce the labor cost and effectively control the uniformity of printed wires, thereby improving the quality and stability of a printing model.

The invention provides a printing control method, which is executed by a control device and comprises the following steps: acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; generating air pressure control information based on the wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when the printing material is extruded; acquiring surface depth information of a printing layer surface through the OCT probe; the printing layer surface is a layered surface of a model formed on a printing platform when the printing nozzle performs printing based on the air pressure control information; judging whether the surface depth information accords with preset reference depth information or not; if not, determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area; and controlling the printing nozzle to print the model based on the printing compensation information.

Further, the method further comprises: acquiring a material detection image of a printing material in a feeding mechanism of a printer through an OCT probe; comparing the material detection image with a preset material reference image to obtain image similarity; wherein the material reference image is an image of a printed material sample; carrying out flow distribution control on the printing material based on the image similarity to obtain a prepared printing material; wherein the ready-to-print material is a print material meeting a preset quality standard; controlling the feeding mechanism to convey the preliminary printing material to the printing nozzle.

Further, the step of performing flow distribution control on the printing material based on the image similarity includes: if the image similarity is larger than a preset similarity threshold, generating first valve control information; the first valve control information is information for controlling the feeding mechanism to flow the printing material to a first branch channel, and the first branch channel is communicated with the printing nozzle.

Further, the method further comprises: when the OCT probe arranged above the printing platform is static, acquiring a B-Scan image of the printing platform through the OCT probe, and extracting a first depth distribution value of the B-Scan image; adjusting a horizontal mounting angle of the OCT probe relative to the print platform based on the first depth profile value; when the OCT probe moves along with the printing nozzle, acquiring an A-Scan image of the printing platform through the OCT probe, and extracting a second depth distribution value of the A-Scan image; adjusting a horizontal installation angle of the printing platform based on the second depth distribution value.

Further, the method further comprises: if the surface depth information accords with preset reference depth information, generating platform descending information; the platform descending information is information for controlling the printing platform to descend for a preset distance.

Further, the setting method of the wire sample parameters comprises the following steps: acquiring an image of a wire sample extruded by the printing nozzle through the OCT probe; detecting the image of the wire sample by adopting an image processing algorithm to obtain a diameter distribution value of the wire sample; determining a wire standard diameter and a standard diameter deviation of the wire sample from the diameter distribution value; setting the wire standard diameter and the standard diameter deviation as the wire sample parameters.

The invention provides a printing control device, which is arranged on a control device and comprises: the wire detection parameter acquisition module is used for acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; the air pressure control module is used for generating air pressure control information based on the wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when the printing material is extruded; the depth information acquisition module is used for acquiring the surface depth information of the printing layer surface through the OCT probe; the printing layer surface is a layered surface of a model formed on a printing platform when the printing nozzle performs printing based on the air pressure control information; the judging module is used for judging whether the surface depth information accords with preset reference depth information or not; the printing compensation control module is used for determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information under the condition that the surface depth information does not accord with the reference depth information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area; and the model printing module is used for controlling the printing nozzle to print the model based on the printing compensation information.

The present invention provides a control apparatus, the apparatus comprising: a processor and a storage device; the storage device has stored thereon a computer program which, when executed by the processor, performs the print control method as in any one of the above.

The printing control system provided by the invention comprises the control equipment, and further comprises a printer and an OCT probe which are connected with the control equipment.

Further, the printer comprises a material recovery device and a feeding mechanism for conveying printing materials to the printing spray head; the feeding mechanism comprises a material container, the bottom of the material container is communicated with the inlet end of a detection pipeline, the outlet end of the detection pipeline is respectively communicated with a first branch channel and a second branch channel which are separated through valves, the first branch channel is communicated with the printing spray head through a guide pipe, and the second branch channel is communicated with a material recovery device through a guide pipe; the OCT probe is at least one, when the OCT probe is one, the arrangement position of the OCT probe is moved through a transmission device, and the arrangement position of the OCT probe comprises the position above a printing platform of the printer and the side surface of the detection pipeline.

The printing control method, device, system and control equipment provided by the embodiment of the invention comprise the following steps: acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; generating air pressure control information based on wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when extruding the printing material; acquiring surface depth information of a printing layer through an OCT probe; the printing layer is a layered surface of a model formed on the printing platform when the printing nozzle performs printing based on the air pressure control information; judging whether the surface depth information accords with preset reference depth information or not; if not, determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area; and controlling the printing nozzle to print the model based on the printing compensation information. The mode is executed by the control equipment, so that the labor cost can be effectively reduced; generating air pressure control information based on wire detection parameters and preset wire sample parameters, and controlling the extrusion air pressure of the printing nozzle through the air pressure control information in the moving process of the printing nozzle during acceleration or deceleration so as to effectively control the uniformity of extruded wires; aiming at a printing layer formed based on a wire with better uniformity, a wire breaking area is further determined and printing compensation information is generated by combining the surface depth information of the printing layer, and a printing nozzle is controlled to perform material compensation on the wire breaking area through the printing compensation information, so that the quality and the stability of a printing model are improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1.1 is a schematic structural diagram of a printing system in a printing control system according to an embodiment of the present invention;

fig. 1.2 is a schematic structural diagram of a material uniformity detection system in a printing control system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a transmission according to an embodiment of the present invention;

FIG. 3 is a flow chart of a printing control method according to an embodiment of the present invention;

FIG. 4 is a flow chart of another printing control method provided by the embodiment of the invention;

fig. 5 is a block diagram of a print control apparatus according to an embodiment of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The existing printing control mode depending on manual observation and manual intervention has the problems of manpower cost consumption, poor silk output uniformity, influence on the quality and stability of a printing model and the like. The inventors have studied and found that OCT (optical coherence tomography) technology can be applied to the monitoring and control process of 3D printing to solve the above-described problems. The OCT technology is a novel biomedical optical imaging technology, is a Michelson interferometer based on low-coherence broadband light source illumination, a probe device is arranged in a sample arm of the Michelson interferometer, and the measured sample is subjected to in-vivo nondestructive scanning imaging, and has the advantages of high resolution, nonintrusion, no radiation and the like.

The printing control method, the printing control device, the printing control system and the printing control equipment provided by the embodiment of the invention can be applied to the technical field of 3D printing, can reduce the labor cost and effectively control the uniformity of printed wires, thereby improving the quality and stability of a printing model.