CN111002580A - 3D printing path filling method improved based on Hilbert curve - Google Patents
3D printing path filling method improved based on Hilbert curve Download PDFInfo
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- CN111002580A CN111002580A CN201911300543.4A CN201911300543A CN111002580A CN 111002580 A CN111002580 A CN 111002580A CN 201911300543 A CN201911300543 A CN 201911300543A CN 111002580 A CN111002580 A CN 111002580A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
A3D printing path filling method based on Hilbert curve improvement comprises the following specific steps: (1) drawing a Hilbert curve, and storing coordinates of each control point of the Hilbert curve; (2) carrying out cubic B-spline curve fitting on the coordinates of the control points, carrying out interpolation smoothing on the fitted curve, and storing the coordinates of all the control points of the smoothed curve; (3) drawing an optimized Hilbert curve by using all the control points in the step (2), calculating the length of the curve, performing 3D simulation printing, and calculating the steering condition of the motor in each direction during printing; (4) writing the method of using cubic B spline interpolation to fit the Hilbert curve into 3D printing slicing software sil 3r, using sil 3r to perform path filling and slicing processing on the model, finally deriving the model into a G-code, and using a 3D printer to print the G-code. The invention reduces the right-angle turning condition and the motor starting and stopping times, thereby obtaining a high-efficiency 3D printing forming path.
Description
Technical Field
The invention belongs to the technical field of 3D printing, and relates to a 3D printing path filling method based on Hilbert curve improvement.
Background
The method mainly comprises the following aspects that ① formed part surface gradient effect occurs, which is not only a problem generated during layering, the path planning can also cause the phenomenon to occur, if parallel filling is used at the outermost circle contour of a layer sheet, the phenomenon is easy to generate, ② formed part mechanical property is poor, the filling rate in each layer during path filling is different, the filling rate in each layer is different, and the different shapes of the cut sheets can cause the different filling rates in the same method, so different filling algorithms are needed for the different formed part filling paths.
Many scholars have studied the filling path, and put forward various path planning schemes to optimize the printing process in terms of forming accuracy, forming time, forming mechanical properties, etc. One of the important factors affecting the quality accuracy of the formed part is the number of times of opening and closing the forming nozzle, and if the nozzle is repeatedly opened and closed and the extruding motor is frequently started and stopped when each section layer is printed, the phenomenon of material accumulation or material loss in a local area can be generated on the forming section, and meanwhile, the service life of the equipment nozzle can be shortened. One important consideration in designing the fill algorithm for the FDM process is to ensure the continuity of the fill path in the cross-section of the same layer profile.
Nowadays, a plurality of Hilbert curves are applied to a printing path of a slice, and the scanning method has the advantages that the path can be globally continuous in a printing area, so that repeated starting and stopping of a spray head can be reduced, and the printing efficiency is improved.
However, the Hilbert curve has excessive right-angle inflection points in printing, so that motors in the x and y directions of the printer alternately run and the speed changes violently, the problem of frequent motor starting and stopping exists, and the printing efficiency, the service life of the motor and the precision of a formed part are greatly reduced.
Disclosure of Invention
The invention provides a Hilbert curve-based improved 3D printing path filling method, which reduces the right-angle turning condition and the motor start-stop times, so that a high-efficiency 3D printing forming path is obtained.
The technical scheme adopted by the invention is as follows:
A3D printing path filling method based on Hilbert curve improvement comprises the following specific steps:
(1) drawing a Hilbert curve, and storing coordinates of each control point of the Hilbert curve;
(2) carrying out cubic B-spline curve fitting on the coordinates of the control points, carrying out interpolation smoothing on the fitted curve, and storing the coordinates of all the control points of the smoothed curve;
(3) drawing an optimized Hilbert curve by using all the control points in the step (2), calculating the length of the curve, performing 3D simulation printing, and calculating the steering condition of the motor in each direction during printing;
(4) writing the method of using cubic B spline interpolation to fit the Hilbert curve into 3D printing slicing software sil 3r, using sil 3r to perform path filling and slicing processing on the model, finally deriving the model into a G-code, and using a 3D printer to print the G-code.
Further, the cubic B-spline curve fitting method of the step (2) is as follows:
the parameter expression of the n-th order B spline curve is as follows:
in the formula PiFor a given number n +1 of control points PiCoordinates of (i ═ 0,1,0,. n), Fi，n(t) is the basis function of an n-th order B-spline curve of the form:
wherein
And the basis functions of cubic B-spline curves are:
wherein
Factorial is expressed, i.e. the above equation can be written as:
further, the cubic B-spline curve fitting method in the step (2) comprises the specific steps of firstly, appointing the number of insertion points in each spline curve by taking the coordinates of control points of the curve as input, and then smoothing the insertion points to the B-spline curve without increasing the number of points; smoothing the curve of the B spline to a curve of the B spline requires that two end points of the broken line are firstly replaced by two points on the extension line, then the first section, the last section and the middle section are smoothed respectively, and the coordinates of all the points are replaced by the coordinates of a new smooth point; and after the B spline curve is smoothed, carrying out cubic B spline fitting on the B spline curve, calculating the total number of points to be inserted, adding two points on the extension line as a head point and a tail point, and uniformly inserting points into each line segment to obtain all new data points.
Further, the specific steps of 3D simulation printing in step (3) are: drawing a Hilbert curve by using the obtained new data point, and calculating the length of the curve after the drawing is finished; the shower nozzle of emulation 3D printer removes, inputs the speed of a shower nozzle operation, and then calculates the shower nozzle and prints the required time at two adjacent sample points, calculates the operating speed of x axle direction and y axle direction between two adjacent sample points when printing at last to can judge whether its shower nozzle stops when printing.
Further, the cubic B-spline curve fitting in step (2) is performed in Visual Studio C + +.
Further, the drawing of the Hilbert curve in step (1) and step (3) was performed in MATLAB.
Further, the coordinates of the control points in the step (1) and the step (2) are both saved as txt text files.
The invention has the beneficial effects that: the Hilbert curve is fitted by using a cubic spline curve fitting method through C + + to form a smooth curve, the right-angle turning situation is reduced, simulation is performed through MATLAB, the number of times of starting and stopping the motor of the optimized path and the number of times of starting and stopping the motor are calculated, and the efficient 3D printing new forming path is obtained.
Drawings
FIG. 1 is a raw graph of the present invention requiring improvement.
FIG. 2 is a graph of the invention after fitting optimization.
FIG. 3 is a graph of x-axis and y-axis motor speed for the optimized curve printing of the present invention.
FIG. 4 is a graph comparing the number of times of stopping the motor in the x-axis and the y-axis when the optimized curve printing and the original curve printing are used in the present invention.
Detailed Description
The present invention is further illustrated by the following examples, which are not intended to limit the invention to these embodiments. It will be appreciated by those skilled in the art that the present invention encompasses all alternatives, modifications and equivalents as may be included within the scope of the claims.
The embodiment provides a 3D printing path filling method based on Hilbert curve improvement, which comprises the following specific steps:
(1) drawing a Hilbert curve in MATLAB, storing coordinates of each control point of the Hilbert curve as a txt text file, and providing original data for optimization;
the Hilbert curve is a space-filling curve formed by dividing a known region into 2 exponential square regions and then connecting their central points in a regular manner. The curve is now set to an order of 4 and plotted in MATLAB, the results of which are shown in FIG. 1. The coordinates of its control point are saved into "point _ x.txt" and "point _ y.txt" for optimal use.
(2) And performing three-time B-spline curve fitting on the coordinates of the control points in Visual Studio C + +, and performing interpolation smoothing on the fitted curves. In the cubic B-spline curve fitting method, the parameter expression of the n-order B-spline curve is as follows:
in the formula PiFor a given number n +1 of control points PiCoordinates of (i ═ 0,1,0,. n), Fi，n(t) is the basis function of an n-th order B-spline curve of the form:
wherein
And the basis function of cubic B-spline curveThe number is as follows:
wherein
Factorial is expressed, i.e. the above equation can be written as:
specifically, 1) the coordinates of the control points of the curve are used as input, and the number of the insertion points in each spline curve is firstly specified to be 10.
2) It is then smoothed onto the B-spline curve without increasing the number of points. Smoothing the curve to the B-spline curve requires first replacing two end points of the broken line with two points on the extension line, then smoothing the first segment, the last segment and the middle segment respectively, and replacing the coordinates of all the points with the coordinates of a new smooth point.
3) And after the B spline curve is smoothed, carrying out cubic B spline fitting on the B spline curve, calculating the total number of points to be inserted, adding two points on the extension line as a head point and a tail point, and uniformly inserting points into each line segment to obtain all new data points.
4) And the coordinates of the new data point are stored in the Bsplane _ test2_ x.txt and the Bsplane _ test2_ y.txt, so that the subsequent simulation is facilitated.
(3) Drawing an optimized Hilbert curve in an MATLAB by using all the control points in the step (2), calculating the length of the curve, performing 3D simulation printing, and calculating the steering condition of the motor in each direction during printing;
specifically, 1) inputting the new data point into MATLAB for curve plotting, and the result is shown in fig. 2.
2) Calculating the length of the curve;
3) and (3) simulating the movement of a spray head of the 3D printer, inputting the running speed of one spray head, further calculating the printing time of the spray head at two adjacent sample points, and finally solving the running speeds in the x-axis direction and the y-axis direction between the two adjacent sample points during printing.
4) The travel speed in the x-axis direction and the y-axis direction are plotted, see fig. 3. And (4) calculating the stopping times of the spray heads during printing, drawing a curve to optimize the stopping times of the spray heads in all directions before and after printing, and obtaining a histogram of the stopping times of the spray heads in all directions as shown in figure 4.
(4) Writing the method of using cubic B spline interpolation to fit the Hilbert curve into 3D printing slicing software sil 3r, using sil 3r to perform path filling and slicing processing on the model, finally deriving the model into a G-code, and using a 3D printer to print the G-code.
Taking a fourth-order Hilbert curve as an example, setting the printing speed to be 5, setting 256 control points of an original curve, setting the total length of the curve to be 255, and setting the total stop times of an x-axis motor and a y-axis motor to be 120 times and 94 times when the x-axis motor and the y-axis motor alternately move at the maximum speed of 5 during printing; after the cubic B-spline curve fitting, the number of control points of the curve is 25655, the total length of the curve is 201.33, the total stop times of the x-axis motor during printing are 41, and the total stop times of the y-axis motor are 30. Therefore, by using the printing path of the invention to print, the printing path can be shortened, the stop times of the motors in the x-axis direction and the y-axis direction are greatly reduced, and the speed change of the motors is smooth.
Claims (7)
1. A3D printing path filling method based on Hilbert curve improvement comprises the following specific steps:
(1) drawing a Hilbert curve, and storing coordinates of each control point of the Hilbert curve;
(2) carrying out cubic B-spline curve fitting on the coordinates of the control points, carrying out interpolation smoothing on the fitted curve, and storing the coordinates of all the control points of the smoothed curve;
(3) drawing an optimized Hilbert curve by using all the control points in the step (2), calculating the length of the curve, performing 3D simulation printing, and calculating the steering condition of the motor in each direction during printing;
(4) writing the method of using cubic B spline interpolation to fit the Hilbert curve into 3D printing slicing software sil 3r, using sil 3r to perform path filling and slicing processing on the model, finally deriving the model into a G-code, and using a 3D printer to print the G-code.
2. The Hilbert curve-based improved 3D printing path filling method as recited in claim 1, wherein: the cubic B-spline curve fitting method in the step (2) is as follows:
the parameter expression of the n-th order B spline curve is as follows:
in the formula PiFor a given number n +1 of control points PiCoordinates of (i ═ 0,1,0,. n), Fi，n(t) is the basis function of an n-th order B-spline curve of the form:
wherein
And the basis functions of cubic B-spline curves are:
wherein
Factorial is expressed, i.e. the above equation can be written as:
3. the Hilbert curve-based improved 3D printing path filling method as recited in claim 2, wherein: the cubic B-spline curve fitting method in the step (2) comprises the specific steps of firstly, designating the number of insertion points in each spline curve by taking the coordinates of control points of the curve as input, and then smoothing the insertion points onto the B-spline curve without increasing the number of points; smoothing the curve of the B spline to a curve of the B spline requires that two end points of the broken line are firstly replaced by two points on the extension line, then the first section, the last section and the middle section are smoothed respectively, and the coordinates of all the points are replaced by the coordinates of a new smooth point; and after the B spline curve is smoothed, carrying out cubic B spline fitting on the B spline curve, calculating the total number of points to be inserted, adding two points on the extension line as a head point and a tail point, and uniformly inserting points into each line segment to obtain all new data points.
4. The Hilbert curve-based improved 3D printing path filling method as recited in claim 3, wherein: the specific steps of 3D simulation printing in the step (3) are as follows: drawing a Hilbert curve by using the obtained new data point, and calculating the length of the curve after the drawing is finished; the shower nozzle of emulation 3D printer removes, inputs the speed of a shower nozzle operation, and then calculates the shower nozzle and prints the required time at two adjacent sample points, calculates the operating speed of x axle direction and y axle direction between two adjacent sample points when printing at last to can judge whether its shower nozzle stops when printing.
5. The Hilbert curve-based improved 3D printing path filling method as recited in claim 1, wherein: the cubic B-spline curve fitting in step (2) was performed in Visual Studio C + +.
6. The Hilbert curve-based improved 3D printing path filling method as recited in claim 1, wherein: the Hilbert curves in steps (1) and (3) were plotted in MATLAB.
7. The Hilbert curve-based improved 3D printing path filling method as recited in claim 1, wherein: and (3) storing the coordinates of the control points in the step (1) and the step (2) as txt text files.
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Cited By (5)
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| CN112199863A (en) * | 2020-10-30 | 2021-01-08 | 黑龙江省科学院智能制造研究所 | Additive manufacturing printing track interpolation method based on parameter spline curve equation |
| CN112936292A (en) * | 2021-03-29 | 2021-06-11 | 昆明理工大学 | Open-source slicing path planning robot arc additive manufacturing method |
| CN113192176A (en) * | 2021-04-14 | 2021-07-30 | 西安理工大学 | Generation method of variable-density 3D printing filling path |
| CN114115298A (en) * | 2022-01-25 | 2022-03-01 | 北京理工大学 | Unmanned vehicle path smoothing method and system |
| CN114434802A (en) * | 2021-12-20 | 2022-05-06 | 西安理工大学 | 3D printing contour offset filling path planning algorithm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112199863A (en) * | 2020-10-30 | 2021-01-08 | 黑龙江省科学院智能制造研究所 | Additive manufacturing printing track interpolation method based on parameter spline curve equation |
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| CN112936292A (en) * | 2021-03-29 | 2021-06-11 | 昆明理工大学 | Open-source slicing path planning robot arc additive manufacturing method |
| CN112936292B (en) * | 2021-03-29 | 2022-05-24 | 昆明理工大学 | Open-source slicing path planning robot arc additive manufacturing method |
| CN113192176A (en) * | 2021-04-14 | 2021-07-30 | 西安理工大学 | Generation method of variable-density 3D printing filling path |
| CN113192176B (en) * | 2021-04-14 | 2023-11-28 | 西安理工大学 | Method for generating variable-density 3D printing filling path |
| CN114434802A (en) * | 2021-12-20 | 2022-05-06 | 西安理工大学 | 3D printing contour offset filling path planning algorithm |
| CN114434802B (en) * | 2021-12-20 | 2023-07-21 | 西安理工大学 | 3D printing contour offset filling path planning algorithm |
| CN114115298A (en) * | 2022-01-25 | 2022-03-01 | 北京理工大学 | Unmanned vehicle path smoothing method and system |
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