3D imaging by multiple sensors during 3D printing

Patent metadata

Field	Value
Publication number	US-11067695-B2
Application number	US-201816466317-A
Country	US
Kind code	B2
Filing date	Mar 16, 2018
Priority date	Mar 31, 2017
Publication date	Jul 20, 2021
Grant date	Jul 20, 2021

Abstract

A method for 3D printing an object, based on a 3D printable model of the object, includes scanning, by a first LiDAR sensor of a plurality of LiDAR sensors, a portion of the object while the object is being printed by a printer head. The method also includes generating an image of at least the portion of the object based on scanning the portion, generating a comparison by comparing the image with the 3D printable model, and sending a feedback signal that adjusts the printer head based on the comparison.

First claim

What is claimed is:

1. A method for 3D printing an object based on a 3D printable model of the object, comprising:
scanning, by a first LiDAR sensor of a plurality of LiDAR sensors, a portion of the object while the object is being printed by a printer head;
generating an image of at least the portion of the object based on scanning the portion;
generating a comparison by comparing the image with the 3D printable model; and
sending a feedback signal that adjusts the printer head based on the comparison, wherein
the plurality of LiDAR sensors operate at a same wavelength,
one of the plurality of LiDAR sensors closest to the printer head is active for scanning, and
a remainder of the plurality of LiDAR sensors are inactive for scanning.

2. The method of claim 1 , wherein:
the plurality of LiDAR sensors comprises three LiDAR sensors, and
the three LiDAR sensors are spaced 120 degrees apart around a deposition plane comprising the object being printed.

3. The method of claim 1 , wherein:
the plurality of LiDAR sensors comprises four LiDAR sensors, and
the four LiDAR sensors are spaced 90 degrees apart around a deposition plane comprising the object being printed.

4. The method of claim 1 , wherein:
the plurality of LiDAR sensors comprises six LiDAR sensors, and
the six LiDAR sensors are spaced 60 degrees apart around a deposition plane comprising the object being printed.

5. A method for 3D printing an object based on a 3D printable model of the object, comprising:
scanning, by a first LiDAR sensor of a plurality of LiDAR sensors, a portion of the object while the object is being printed by a printer head;
generating an image of at least the portion of the object based on scanning the portion;
generating a comparison by comparing the image with the 3D printable model; and
sending a feedback signal that adjusts the printer head based on the comparison, wherein
the plurality of LiDAR sensors operate at different wavelengths, and
all of the plurality of LiDAR sensors are active for scanning.

6. The method of claim 5 , wherein
the plurality of LiDAR sensors comprises six LiDAR sensors, and
the six LiDAR sensors are spaced 60 degrees apart around a deposition plane comprising the object being printed.

7. A method for 3D printing an object based on a 3D printable model of the object, comprising:
scanning, by a first LiDAR sensor of a plurality of LiDAR sensors, a portion of the object while the object is being printed by a printer head;
generating an image of at least the portion of the object based on scanning the portion;
generating a comparison by comparing the image with the 3D printable model; and
sending a feedback signal that adjusts the printer head based on the comparison, wherein
the method further comprises:
activating the first LiDAR sensor in response to the first LiDAR sensor being in a same zone as the printer head; and
activating, while the first LiDAR sensor is activated, a second LiDAR sensor spaced approximately 180 degrees from the first LiDAR sensor,
wherein the image is further generated based on scanning by the second LiDAR sensor, and
wherein a remainder of the plurality of LiDAR sensors are not active while the first LiDAR sensor and the second LiDAR sensor are scanning.

8. A method comprising:
obtaining a 3D printable model of an object;
selecting a first scanning mode based on the 3D printable model of the object;
scanning, according to the first scanning mode and by at least one sensor of a plurality of sensors, a portion of the object while the object is being printed by a printer head;
generating a first image of at least the portion of the object based on scanning the portion using the first scanning mode; and
generating a first comparison by comparing the first image with the 3D printable model wherein
the plurality of sensors operate at a same wavelength,
one of the plurality of sensors closest to the printer head is active for scanning, and
a remainder of the plurality of sensors are inactive for scanning.

9. The method of claim 8 , further comprising:
selecting a second scanning mode based on the first comparison of the first image with the 3D printable model;
scanning, according to the second scanning mode, the portion of the object;
generating a second image of at least the portion of the object based on scanning the portion using the second scanning mode;
generating a second comparison by comparing the second image with the 3D printable model; and
sending a feedback signal that adjusts the printer head based on the second comparison.

10. The method of claim 9 , wherein the first scanning mode is synchronous mode, and wherein the second scanning mode is asynchronous mode.

11. The method of claim 8 , wherein:
the plurality of sensors comprises three LiDAR sensors, and
the three LiDAR sensors are spaced 120 degrees apart around a deposition plane comprising the object being printed.

12. The method of claim 8 , wherein:
the plurality of sensors comprises four LiDAR sensors, and
the four LiDAR sensors are spaced 90 degrees apart around a deposition plane comprising the object being printed.

13. The method of claim 8 , wherein:
the plurality of sensors comprises six LiDAR sensors, and
the six LiDAR sensors are spaced 60 degrees apart around a deposition plane comprising the object being printed.

14. The method of claim 8 , wherein each of the plurality of sensors is a LiDAR sensor.

15. A method comprising:
obtaining a 3D printable model of an object;
selecting a first scanning mode based on the 3D printable model of the object;
scanning, according to the first scanning mode and by at least one sensor of a plurality of sensors, a portion of the object while the object is being printed by a printer head;
generating a first image of at least the portion of the object based on scanning the portion using the first scanning mode; and
generating a first comparison by comparing the first image with the 3D printable model, wherein
the method further comprises:
selecting the portion of the object, wherein
selecting the first scanning mode is based only on a segment of the 3D printable model corresponding to the portion.

16. A method comprising:
obtaining a 3D printable model of an object;
selecting a first scanning mode based on the 3D printable model of the object;
scanning, according to the first scanning mode and by at least one sensor of a plurality of sensors, a portion of the object while the object is being printed by a printer head;
generating a first image of at least the portion of the object based on scanning the portion using the first scanning mode; and
generating a first comparison by comparing the first image with the 3D printable model, wherein
the plurality of sensors operate at different wavelengths, and
all of the plurality of sensors are active for scanning.

17. The method of claim 16 , wherein
the plurality of sensors comprises six LiDAR sensors, and
the six LiDAR sensors are spaced 60 degrees apart around a deposition plane comprising the object being printed.

Assignees

• Konica Minolta Laboratory Usa Inc

Inventors

• Amano Jun

Classifications

• G06T7/001

  using an image reference approach · CPC title

• B29C64/393

  for controlling or regulating additive manufacturing processes · CPC title

• G06T2200/04

  involving 3D image data · CPC title

• B29C64/10

  Processes of additive manufacturing · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title