CN114603857B - Method, device, equipment and storage medium for planning printing path - Google Patents
Method, device, equipment and storage medium for planning printing path Download PDFInfo
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- CN114603857B CN114603857B CN202210275985.3A CN202210275985A CN114603857B CN 114603857 B CN114603857 B CN 114603857B CN 202210275985 A CN202210275985 A CN 202210275985A CN 114603857 B CN114603857 B CN 114603857B
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The application discloses a planning method, a device, equipment and a storage medium of a printing path, relates to the technical field of 3D printing, and can avoid small-angle corners in the planned printing path, thereby avoiding the problems of fiber bundle breakage and serious fiber printing rollback caused by the small-angle corners. The method comprises the following steps: acquiring a region to be planned, which comprises an inner contour and an outer contour; determining N dividing lines in the area to be planned based on geometric distribution parameters of the inner contour and the outer contour, and dividing the area to be planned into N partitions to be planned based on the N dividing lines; in each partition to be planned, determining M planning lines of the partition to be planned based on M first planning points on a first boundary line of the partition to be planned and M second planning points on a second boundary line of the partition to be planned; and in the area to be planned, splicing the M planning lines of each area to be planned by taking the first planning point and the second planning point as path splicing points to obtain M printing paths.
Description
Technical Field
The present disclosure relates to the field of 3D printing technologies, and in particular, to a method, an apparatus, a device, and a storage medium for planning a printing path.
Background
The continuous fiber reinforced resin matrix composite material has the characteristics of high specific stiffness, high specific strength, strong designability and the like, and is widely applied to the processing and forming process of aerospace aircrafts, airplanes, automobiles and various mechanical equipment at present. In addition, the 3D printing technology can greatly reduce the processing procedures of the components and shorten the manufacturing period, so that the integrated manufacturing of the continuous fiber composite components can be realized through the 3D printing technology of the continuous fiber reinforced resin matrix composite at present.
In 3D printing of continuous fiber reinforced resin based composites, the printing path may be planned first, and then fiber filling may be performed based on the planned printing path. At present, an equidistant offset path planning method is often adopted to plan a printing path.
However, in existing equidistant offset path planning methods, many small-angle corners may appear in the planned print path, which may cause large-angle adjustments of the print direction during printing, resulting in breaks in the fiber bundles. In addition, these small angled corners in the print path can also result in severe fiber print rollback.
Disclosure of Invention
The application provides a printing path planning method, device, equipment and storage medium, which can avoid small-angle corners in the planned printing path, so as to avoid the problems of breakage in fiber bundles and serious fiber printing rollback caused by the small-angle corners.
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, the present application provides a method for planning a print path, including: acquiring a region to be planned; the area to be planned comprises an inner contour and an outer contour, and the inner contour is not communicated with the outer contour; determining N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the area to be planned into N partitions to be planned based on the N dividing lines; the first end of the parting line is on the inner contour and the second end of the parting line is on the outer contour; n is a positive integer greater than 1; in each partition to be planned, determining M planning lines of the partition to be planned based on M first planning points on a first boundary line of the partition to be planned and M second planning points on a second boundary line of the partition to be planned; the first boundary line and the second boundary line are two dividing lines for dividing the partition to be planned; m is a positive integer greater than 0; and in the area to be planned, the first planning point and the second planning point are used as path splicing points, and the M planning lines of each area to be planned are spliced to obtain M printing paths.
Since the inner contour and the outer contour of the area to be planned are not communicated, a small-angle corner may occur based on the printing path obtained by the existing equidistant offset path planning method. In the technical scheme provided by the application, in order to avoid the corner of a small angle in the printing path, after the area to be planned is acquired, the area to be planned can be divided into N areas to be planned based on N dividing lines, then M planning lines are respectively determined in each area to be planned, and then the M planning lines of each area to be planned are spliced to obtain M printing paths. Because the first end point of the dividing line is selected on the inner contour and the second end point is selected on the outer contour, no hollow area exists in the N obtained partitions to be planned (namely, the partitions to be planned are formed by surrounding one communication contour), and therefore small-angle corners in M planning lines determined by all the partitions to be planned can be avoided. Therefore, in M printing paths obtained by splicing M rule lines of each to-be-planned partition, small-angle corners can be avoided. It can be seen that the printing path is obtained by dividing the area to be planned and then splicing the rule lines of each area to be planned, so that small-angle corners in the planned printing path can be avoided, and the problems of breakage in fiber bundles and serious fiber printing rollback caused by the small-angle corners can be avoided.
Alternatively, in one possible design, the geometric distribution parameters may include geometry and number of contour edges.
Alternatively, in another possible design manner, the determining N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour may include:
under the condition that the inner contour and the outer contour are both communication curves, a central line is determined based on a central point corresponding to the area to be planned;
two cut lines with the center line on the inner contour and the outer contour are determined as two dividing lines.
Alternatively, in another possible design manner, the determining N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour may include:
and under the condition that the inner contour is a communication curve, the outer contour is a communication fold line or the inner contour is a communication fold line and the outer contour is a communication curve, connecting the central point corresponding to the area to be planned with N folding points of the communication fold line respectively to obtain N connecting lines, and determining N cutting lines on the inner contour and the outer contour as N dividing lines.
Optionally, in another possible design manner, the determining the M rule of the partition to be planned "based on the M first planning points on the first boundary line and the M second planning points on the second boundary line of the partition to be planned" may include:
Based on preset printing precision, determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction, and determining K second sampling points on a fourth boundary line of the partition to be planned; the third boundary line is a segment of the inner contour, and the fourth boundary line is a segment of the outer contour; k is a positive integer greater than 0;
based on a first preset sampling point direction, connecting the first sampling points and the second sampling points in pairs to obtain K guide lines;
based on preset printing precision, respectively determining M third planning points on each guide line along a second preset sampling point direction, determining M first planning points on a first boundary line, and determining M second planning points on a second boundary line;
dividing M third planning points, M first planning points and M second planning points into M different point sets based on a second preset mining point direction;
fitting the points in each point set based on Bezier curve algorithm to obtain M rule lines.
Optionally, in another possible design manner, distances between adjacent sampling points in the K first sampling points are equal, and distances between adjacent sampling points in the K second sampling points are equal; and the distances between adjacent planning points in the M first planning points are equal, and the distances between adjacent planning points in the M second planning points are equal.
Optionally, in another possible design manner, after obtaining the M print paths, the method for planning a print path provided in the present application may further include:
and 3D printing is carried out on the continuous fiber reinforced resin matrix composite material based on the printing path.
In a second aspect, the present application provides a printing path planning apparatus, including: the device comprises an acquisition module, a determination module and a splicing module;
the acquisition module is used for acquiring the area to be planned; the area to be planned comprises an inner contour and an outer contour, and the inner contour is not communicated with the outer contour;
the determining module is used for determining N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the area to be planned into N areas to be planned based on the N dividing lines; the first end of the parting line is on the inner contour and the second end of the parting line is on the outer contour; n is a positive integer greater than 1;
the determining module is further used for determining M planning lines of the partitions to be planned based on M first planning points on a first boundary line of the partitions to be planned and M second planning points on a second boundary line in each partition to be planned; the first boundary line and the second boundary line are two dividing lines for dividing the partition to be planned; m is a positive integer greater than 0;
And the splicing module is used for splicing the M planning lines of each to-be-planned partition by taking the first planning point and the second planning point as path splicing points in the to-be-planned area to obtain M printing paths.
Alternatively, in one possible design, the geometric distribution parameters may include geometry and number of contour edges.
Alternatively, in another possible design manner, the determining module is specifically configured to:
under the condition that the inner contour and the outer contour are both communication curves, a central line is determined based on a central point corresponding to the area to be planned;
two cut lines with the center line on the inner contour and the outer contour are determined as two dividing lines.
Alternatively, in another possible design manner, the determining module is specifically configured to:
and under the condition that the inner contour is a communication curve, the outer contour is a communication fold line or the inner contour is a communication fold line and the outer contour is a communication curve, connecting the central point corresponding to the area to be planned with N folding points of the communication fold line respectively to obtain N connecting lines, and determining N cutting lines on the inner contour and the outer contour as N dividing lines.
Alternatively, in another possible design manner, the determining module is specifically configured to:
Based on preset printing precision, determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction, and determining K second sampling points on a fourth boundary line of the partition to be planned; the third boundary line is a segment of the inner contour, and the fourth boundary line is a segment of the outer contour; k is a positive integer greater than 0;
based on a first preset sampling point direction, connecting the first sampling points and the second sampling points in pairs to obtain K guide lines;
based on preset printing precision, respectively determining M third planning points on each guide line along a second preset sampling point direction, determining M first planning points on a first boundary line, and determining M second planning points on a second boundary line;
dividing M third planning points, M first planning points and M second planning points into M different point sets based on a second preset mining point direction;
fitting the points in each point set based on Bezier curve algorithm to obtain M rule lines.
Optionally, in another possible design manner, distances between adjacent sampling points in the K first sampling points are equal, and distances between adjacent sampling points in the K second sampling points are equal; and the distances between adjacent planning points in the M first planning points are equal, and the distances between adjacent planning points in the M second planning points are equal.
Optionally, in another possible design manner, the printing path planning device provided by the application may further include a printing module;
and the printing module is used for performing 3D printing on the continuous fiber reinforced resin matrix composite based on the printing paths after the M printing paths are obtained by the splicing module.
In a third aspect, the present application provides a printing path planning apparatus comprising a memory, a processor, a bus, and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through a bus; when the printing path planning apparatus is operated, the processor executes computer-executable instructions stored in the memory to cause the printing path planning apparatus to perform the printing path planning method as provided in the first aspect described above.
Optionally, the printing path planning device may be a printing device for implementing 3D printing, or may be a chip system in the printing device, or may also be a physical machine for implementing printing path planning, or may be a part of a device in the physical machine, for example, may be a chip system in the physical machine. The chip system is used for supporting the printing path planning device to implement the functions involved in the first aspect, for example, to receive, transmit or process the data and/or information involved in the printing path planning method described above. The chip system includes a chip, and may also include other discrete devices or circuit structures.
In a fourth aspect, the present application provides a computer-readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the method of planning a print path as provided in the first aspect.
In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the method of planning a print path as provided in the first aspect.
It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged together with the processor of the planning apparatus for the print path, or may be packaged separately from the processor of the planning apparatus for the print path, which is not limited in this application.
The description of the second, third, fourth and fifth aspects of the present application may refer to the detailed description of the first aspect; further, the advantageous effects described in the second aspect, the third aspect, the fourth aspect, and the fifth aspect may refer to the advantageous effect analysis of the first aspect, and are not described herein.
In the present application, the names of the above-mentioned devices or functional modules are not limited, and in actual implementation, these devices or functional modules may appear under other names. Insofar as the function of each device or function module is similar to the present application, it is within the scope of the present application and the equivalents thereof.
These and other aspects of the present application will be more readily apparent from the following description.
Drawings
Fig. 1 is a schematic path diagram of a print path obtained based on an equidistant offset path planning method according to an embodiment of the present application;
fig. 2 is a flow chart of a method for planning a print path according to an embodiment of the present application;
fig. 3 is a schematic diagram of an area to be planned according to an embodiment of the present application;
FIG. 4 is a schematic diagram of another area to be planned according to an embodiment of the present application;
FIG. 5 is a schematic diagram of yet another area to be planned according to an embodiment of the present application;
FIG. 6 is a schematic diagram of yet another area to be planned provided in an embodiment of the present application;
FIG. 7 is a schematic diagram of yet another area to be planned according to an embodiment of the present application;
fig. 8 is a schematic flow chart of determining M rule lines of a partition to be planned according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a print path provided in an embodiment of the present application;
fig. 10 is a schematic structural diagram of a planning apparatus for a printing path according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a planning apparatus for a printing path according to an embodiment of the present application.
Detailed Description
The following describes in detail a method, an apparatus, a device, and a storage medium for planning a print path according to embodiments of the present application with reference to the accompanying drawings.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.
The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or for distinguishing between different processes of the same object and not for describing a particular sequential order of objects.
Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the description of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more.
In 3D printing of continuous fiber reinforced resin based composites, the printing path may be planned first, and then fiber filling may be performed based on the planned printing path. At present, an equidistant offset path planning method is often adopted to plan a printing path.
Referring to fig. 1, a schematic path diagram of a print path based on equidistant offset path planning is provided. As shown in fig. 1, the area outside the inner contour and inside the outer contour is the area to be planned, wherein the dotted line represents the planned print path. It can be seen that the print path of fig. 1 has many small angular corners that cause large angular adjustments in the print direction during printing, resulting in breaks in the fiber bundle, and also in severe fiber print rollback.
Aiming at the problems in the prior art, the embodiment of the application provides a printing path planning method, which comprises the steps of dividing a region to be planned to obtain N regions to be planned, determining the rule lines in each region to be planned, and splicing the rule lines of each region to be planned to obtain the printing path.
The printing path planning method provided by the embodiment of the application can be applied to the printing path planning equipment, and the printing path planning equipment can be printing equipment for realizing 3D printing or a chip system in the printing equipment. Alternatively, the print path planning device may be a physical machine for implementing print path planning, or may be a chip system in the physical machine. For example, a server for implementing print path planning may be used.
The following describes a method for planning a print path provided in the present application with reference to the accompanying drawings.
Referring to fig. 2, the method for planning a print path provided in the embodiment of the present application includes S201 to S204:
S201, obtaining an area to be planned.
The area to be planned comprises an inner contour and an outer contour, and the inner contour and the outer contour are not communicated. By way of example, referring to fig. 3, a schematic diagram of an area to be planned is provided. As shown in fig. 3, the shadow area formed by the outer contour and the inner contour is the area to be planned.
In one possible implementation, the area to be planned may be obtained by: based on the actual size of the target forming member, a three-dimensional model of the target forming member is established by adopting three-dimensional reconstruction software, and then lamellar and contour information of the three-dimensional model can be obtained after the lamellar and slicing software is processed; the area to be planned may then be determined based on the plies and contour information of the three-dimensional model. It may be understood that the method for obtaining the area to be planned in the embodiment of the present application is merely an example, and in practical application, the area to be planned may also be obtained based on other manners, which is not limited in this embodiment of the present application.
S202, determining N dividing lines in the area to be planned based on geometric distribution parameters of the inner contour and the outer contour, and dividing the area to be planned into N areas to be planned based on the N dividing lines.
Wherein the first end of the parting line is on the inner contour and the second end of the parting line is on the outer contour; n is a positive integer greater than 1. The first end point and the second end point are both end points of the dividing line.
Alternatively, the geometric distribution parameters may include geometric shape and contour edge count.
In the embodiment of the application, in order to facilitate the division of the area to be planned into the area to be planned without the hollow area, the embodiment of the application can determine the number and the positions of the dividing lines based on the geometric shapes of the inner contour and the outer contour and the contour edge number. Specifically, when the inner contour and the outer contour are both communication curves, N may be 2. When the inner profile is a communication curve and the outer profile is a communication fold line, N may be the number of sides of the outer profile, that is, the number of fold points of the communication fold line. When the outer profile is a communication curve and the inner profile is a communication fold line, N may be the number of sides of the inner profile, that is, the number of fold points of the communication fold line.
Optionally, in the case that the inner contour and the outer contour are both connected curves, the embodiment of the application may determine the center line based on the center point corresponding to the area to be planned; the two cut lines with the center line on the inner and outer contours are then determined as two parting lines.
For example, the center point corresponding to the area to be planned may be a geometric center (for example, a center of gravity point) of the area to be planned. If the area to be planned is a symmetric area, the center line can be the symmetric axis of the area to be planned; if the area to be planned is not a symmetric area, the center line may be any line segment intersecting the inner contour and the outer contour respectively through the center point. Or, in practical application, the center point and the center line corresponding to the area to be planned may also be determined based on other manners, which is not limited in the embodiment of the present application.
Referring to fig. 4, a schematic diagram of one possible area to be planned is provided. As shown in fig. 4, the inner contour and the outer contour of the area to be planned are both connected curves, and the center point corresponding to the area to be planned is an O point, so that the center line p corresponding to the area to be planned can be obtained according to the O point. The center line p is the line segment A1A2 and the line segment A3A4 on the inner contour and the outer contour, respectively, and the line segment A1A2 and the line segment A3A4 can be determined as two dividing lines of the area to be planned. Based on the line segments A1A2 and A3A4, the area to be planned is divided into 2 partitions to be planned, namely the partition a to be planned and the partition B to be planned in fig. 4.
Optionally, when the inner contour is a communication curve, the outer contour is a communication fold line, or the inner contour is a communication fold line and the outer contour is a communication curve, in this embodiment of the present application, a center point corresponding to a to-be-planned area may be connected with N folding points of the communication fold line, to obtain N connecting lines, and N intercept lines on the inner contour and the outer contour of the N connecting lines are determined as N dividing lines.
Referring to fig. 5, a schematic diagram of another possible area to be planned is provided. As shown in fig. 5, the inner contour of the area to be planned is a connected curve, the outer contour is a connected broken line, the number of contour sides of the outer contour is 4 (i.e., the number of break points of the connected broken line is 4), and the center point corresponding to the area to be planned is an O point. Connecting the O point with the break points A1, A2, A3 and A4 respectively, 4 connecting lines p1, p2, p3 and p4 can be obtained, the 4 sections on the inner contour and the outer contour of the connecting lines p1, p2, p3 and p4 are line segments A1B1, A2B2, A3B3 and A4B4 respectively, and the line segments A1B1, A2B2, A3B3 and A4B4 can be determined as 4 dividing lines of the area to be planned. Based on the 4 dividing lines, the area to be planned is divided into 4 partitions to be planned, namely a partition to be planned a, a partition to be planned B, a partition to be planned C and a partition to be planned D in fig. 5.
Referring to fig. 6, a schematic diagram of yet another possible area to be planned is provided. As shown in fig. 6, the outer contour of the area to be planned is a connected curve, the inner contour is a connected broken line, the number of contour sides of the inner contour is 4 (i.e., the number of break points of the connected broken line is 4), and the center point corresponding to the area to be planned is an O point. Similarly, connecting the O point with the break points A1, A2, A3, and A4, respectively, and extending the connection lines can obtain 4 connection lines p1, p2, p3, and p4, and then the 4 cut lines A1B1, A2B2, A3B3, and A4 on the inner and outer contours of the connection lines p1, p2, p3, and p4 can be determined as 4 dividing lines. Based on the 4 dividing lines, the area to be planned is divided into a partition A to be planned, a partition B to be planned, a partition C to be planned and a partition D to be planned.
It can be understood that, in the embodiment of the present application, N is taken as an example and is 4, and in practical application, N may be any positive integer greater than 1, for example, may be 2, 3, 5, 6, etc., which is not limited in this embodiment of the present application.
It should be noted that, in the embodiment of the present application, only the area to be planned of the common target forming member is described, and in practical application, the path planning may also be performed by using the method for planning the printing path provided in the embodiment of the present application, for the area to be planned of other target forming members (for example, the area to be planned in fig. 7), which is not limited in this embodiment of the present application.
S203, in each partition to be planned, determining M planning lines of the partition to be planned based on M first planning points on a first boundary line of the partition to be planned and M second planning points on a second boundary line.
The first boundary line and the second boundary line are two dividing lines for dividing the partition to be planned; m is a positive integer greater than 0.
In the embodiment of the application, in order to avoid a small-angle corner in a printing path, a to-be-planned area can be divided into N to-be-planned partitions, and then path planning is performed in each to-be-planned partition respectively to obtain the rule in each to-be-planned partition.
Optionally, in order to obtain more reasonable ruled lines in each to-be-planned partition, so as to obtain more reasonable printing paths, in this embodiment of the present application, M ruled lines of the to-be-planned partition may be determined by: based on preset printing precision, determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction, and determining K second sampling points on a fourth boundary line of the partition to be planned; the third boundary line is a segment of the inner contour, and the fourth boundary line is a segment of the outer contour; k is a positive integer greater than 0; based on a first preset sampling point direction, connecting the first sampling points and the second sampling points in pairs to obtain K guide lines; based on preset printing precision, respectively determining M third planning points on each guide line along a second preset sampling point direction, determining M first planning points on a first boundary line, and determining M second planning points on a second boundary line; dividing M third planning points, M first planning points and M second planning points into M different point sets based on a second preset mining point direction; fitting the points in each point set based on Bezier curve algorithm to obtain M rule lines.
The preset printing precision may be a filling density manually determined in advance, and the preset printing precision of different components may be different, which is not limited in the embodiment of the present application.
The first preset setpoint direction may be a direction determined in advance by an individual, e.g., may be clockwise or counterclockwise along the inner contour. The second preset picking point direction may be a direction determined by a person in advance, for example, may be a direction from the inner contour to the outer contour.
Illustratively, referring to FIG. 8, a flow diagram is provided for determining M specification lines for a partition to be planned. As shown in fig. 8 (a), a schematic diagram of a possible partition to be planned is provided, where the partition to be planned may be any partition to be planned obtained by dividing the area to be planned shown in fig. 5, and is formed by surrounding a first boundary line (dividing line), a second boundary line (dividing line), a third boundary line (segment of the inner contour), and a fourth boundary line (segment of the outer contour). If K is determined to be 7 based on the preset print accuracy, as shown in (b) of fig. 8, 7 first sampling points, respectively X11, X12, X13, X14, X15, X16, and X17, may be sequentially determined on the third boundary line in the first preset sampling point direction, and 7 second sampling points, respectively X21, X22, X23, X24, X25, X26, and X27, may be sequentially determined on the fourth boundary line. Thereafter, as shown in fig. 8 (c), the first sampling point and the second sampling point may be connected two by two based on the first preset sampling point direction, for example, X11 and X21 may be connected first, then X12 may be found on the third boundary line along the first preset sampling point direction, X22 may be connected if X22 is found on the fourth boundary line along the first preset sampling point direction, similarly, X13 and X23, X14 and X24, X15 and X25, X16 and X26, and X17 and X27 may be connected, resulting in 7 finger lines including the first boundary line and the second boundary line, that is, q1, q2, q3, q4, q5, q6 and q7 in fig. 8 (c). If M is determined to be 7 based on the preset printing accuracy, 7 planned points may be determined on q1, q2, q3, q4, q5, q6, and q7, respectively, along the second preset sampling point direction. Then, a first point of q1, q2, q3, q4, q5, q6, and q7 along a second preset mining point direction may be determined as a first point set, a second point may be determined as a second point set, and similarly, all planning points may be divided into 7 different point sets based on the second preset mining point direction. As shown in fig. 8 (d), points in each point set may be fitted based on the bezier curve algorithm, to obtain 7 rule lines including a third boundary line and a fourth boundary line.
Optionally, distances between adjacent sampling points in the K first sampling points in the embodiment of the present application are all equal, and distances between adjacent sampling points in the K second sampling points are all equal; and the distances between adjacent planning points in the M first planning points are equal, and the distances between adjacent planning points in the M second planning points are equal. Therefore, the distribution of the planned printing paths is relatively uniform, and the printing effect is better.
S204, in the area to be planned, the first planning point and the second planning point are used as path splicing points, and M planning lines of each area to be planned are spliced to obtain M printing paths.
After determining the rule of each to-be-planned partition, the rule of each to-be-planned partition can be spliced to obtain a printing path. For example, after the rule of each to-be-planned partition of fig. 5 is obtained according to the method for determining the rule shown in fig. 8, as shown in fig. 9, 7 first planned points on the first boundary line and 7 second planned points on the second boundary line may be used as path splicing points, and the 7 rule lines of each to-be-planned partition may be spliced to obtain 7 printing paths (other line segments except the dividing line in fig. 9). It can be seen that, in the print path in fig. 9, there is no small-angle corner, so the method for planning the print path provided in the embodiment of the present application can avoid the occurrence of a small-angle corner.
Alternatively, after obtaining the M print paths, the continuous fiber reinforced resin matrix composite may be 3D printed based on the print paths. Because the small-angle corner can be avoided in the planned printing path, the problems of breakage in the fiber bundle and serious fiber printing rollback caused by the small-angle corner can be avoided in the process of 3D printing of the continuous fiber reinforced resin matrix composite material.
In the printing path planning method provided by the embodiment of the application, because the inner contour and the outer contour of the area to be planned are not communicated, a small-angle corner may occur on the basis of the printing path obtained by the existing equidistant offset path planning method. In order to avoid small-angle corners in the printing paths, after the to-be-planned area is acquired, the to-be-planned area can be divided into N to-be-planned partitions based on N dividing lines, then M planning lines are respectively determined in each to-be-planned partition, and then the M planning lines of each to-be-planned partition are spliced to obtain M printing paths. Because the first end point of the dividing line is selected on the inner contour and the second end point is selected on the outer contour, no hollow area exists in the N obtained partitions to be planned (namely, the partitions to be planned are formed by surrounding one communication contour), and therefore small-angle corners in M planning lines determined by all the partitions to be planned can be avoided. Therefore, in M printing paths obtained by splicing M rule lines of each to-be-planned partition, small-angle corners can be avoided. It can be seen that, in the embodiment of the present application, by dividing the area to be planned, and then splicing the gauge lines of each area to be planned to obtain the print path, a small-angle corner in the planned print path can be avoided, so that the problems of breakage in the fiber bundle and serious fiber printing rollback caused by the small-angle corner can be avoided.
As shown in fig. 10, the embodiment of the present application further provides a device for planning a print path, where the device may include: an acquisition module 11, a determination module 12 and a splicing module 13.
Wherein, the obtaining module 11 executes S201 in the above method embodiment, the determining module 12 executes S202 and S203 in the above method embodiment, and the splicing module 13 executes S204 in the above method embodiment.
Specifically, an acquiring module 11 is configured to acquire an area to be planned; the area to be planned comprises an inner contour and an outer contour, and the inner contour is not communicated with the outer contour;
the determining module 12 is configured to determine N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and divide the area to be planned into N partitions to be planned based on the N dividing lines; the first end of the parting line is on the inner contour and the second end of the parting line is on the outer contour; n is a positive integer greater than 1;
the determining module 12 is further configured to determine, in each partition to be planned, M planning lines of the partition to be planned based on M first planning points on a first boundary line of the partition to be planned and M second planning points on a second boundary line of the partition to be planned; the first boundary line and the second boundary line are two dividing lines for dividing the partition to be planned; m is a positive integer greater than 0;
And the splicing module 13 is used for splicing the M planning lines of each to-be-planned partition by taking the first planning point and the second planning point as path splicing points in the to-be-planned region to obtain M printing paths.
Alternatively, in one possible design, the geometric distribution parameters may include geometry and number of contour edges.
Alternatively, in another possible design, the determining module 12 is specifically configured to:
under the condition that the inner contour and the outer contour are both communication curves, a central line is determined based on a central point corresponding to the area to be planned;
two cut lines with the center line on the inner contour and the outer contour are determined as two dividing lines.
Alternatively, in another possible design, the determining module 12 is specifically configured to:
and under the condition that the inner contour is a communication curve, the outer contour is a communication fold line or the inner contour is a communication fold line and the outer contour is a communication curve, connecting the central point corresponding to the area to be planned with N folding points of the communication fold line respectively to obtain N connecting lines, and determining N cutting lines on the inner contour and the outer contour as N dividing lines.
Alternatively, in another possible design, the determining module 12 is specifically configured to:
Based on preset printing precision, determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction, and determining K second sampling points on a fourth boundary line of the partition to be planned; the third boundary line is a segment of the inner contour, and the fourth boundary line is a segment of the outer contour; k is a positive integer greater than 0;
based on a first preset sampling point direction, connecting the first sampling points and the second sampling points in pairs to obtain K guide lines;
based on preset printing precision, respectively determining M third planning points on each guide line along a second preset sampling point direction, determining M first planning points on a first boundary line, and determining M second planning points on a second boundary line;
dividing M third planning points, M first planning points and M second planning points into M different point sets based on a second preset mining point direction;
fitting the points in each point set based on Bezier curve algorithm to obtain M rule lines.
Optionally, in another possible design manner, distances between adjacent sampling points in the K first sampling points are equal, and distances between adjacent sampling points in the K second sampling points are equal; and the distances between adjacent planning points in the M first planning points are equal, and the distances between adjacent planning points in the M second planning points are equal.
Optionally, in another possible design manner, the printing path planning device provided by the application may further include a printing module;
and the printing module is used for performing 3D printing on the continuous fiber reinforced resin matrix composite material based on the printing paths after the splicing module 13 obtains M printing paths.
Optionally, the printing path planning device may further include a storage module, where the storage module is configured to store program codes of the printing path planning device, and so on.
As shown in fig. 11, the embodiment of the present application further provides a planning apparatus for a print path, including a memory 41, a processor 42 (42-1 and 42-2), a bus 43, and a communication interface 44; the memory 41 is used for storing computer-executable instructions, and the processor 42 is connected with the memory 41 through the bus 43; when the printing path planning apparatus is operated, the processor 42 executes computer-executable instructions stored in the memory 41 to cause the printing path planning apparatus to execute the printing path planning method as provided in the above-described embodiment.
In a particular implementation, the processor 42 may include, as one embodiment, one or more central processing units (central processing unit, CPU), such as CPU0 and CPU1 shown in FIG. 11. And as one example, the print path planning apparatus may include a plurality of processors 42, such as processor 42-1 and processor 42-2 shown in fig. 11. Each of these processors 42 may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor 42 herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
The memory 41 may be, but is not limited to, a read-only memory 41 (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (electrically erasable programmable read-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 41 may be stand alone and be coupled to the processor 42 via a bus 43. Memory 41 may also be integrated with processor 42.
In a specific implementation, the memory 41 is used for storing data in the application and computer-executable instructions corresponding to executing a software program of the application. The processor 42 may perform various functions of the printing path planning apparatus by running or executing a software program stored in the memory 41 and invoking data stored in the memory 41.
Communication interface 44, using any transceiver-like device, is used to communicate with other devices or communication networks, such as a control system, a radio access network (radio access network, RAN), a wireless local area network (wireless local area networks, WLAN), etc. The communication interface 44 may include a receiving unit to implement a receiving function and a transmitting unit to implement a transmitting function.
Bus 43 may be an industry standard architecture (industry standard architecture, ISA) bus, an external device interconnect (peripheral component interconnect, PCI) bus, or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The bus 43 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 11, but not only one bus or one type of bus.
As an example, in connection with fig. 10, the function realized by the acquisition module in the print path planning apparatus is the same as the function realized by the receiving unit in fig. 11, and the function realized by the determination module in the print path planning apparatus is the same as the function realized by the processor in fig. 11. When the printing path planning apparatus includes a memory module, the memory module performs the same function as the memory in fig. 11.
The explanation of the related content in this embodiment may refer to the above method embodiment, and will not be repeated here.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein again.
The embodiment of the application also provides a computer readable storage medium, in which instructions are stored, which when executed by a computer, cause the computer to execute the method for planning a printing path provided in the above embodiment.
The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (erasable programmable read only memory, EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (application specific integrated circuit, ASIC). In the context of the present application, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A method of planning a print path, comprising:
acquiring a region to be planned; the area to be planned comprises an inner contour and an outer contour, and the inner contour is not communicated with the outer contour;
determining N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the area to be planned into N partitions to be planned based on the N dividing lines; a first end of the parting line is on the inner contour and a second end of the parting line is on the outer contour; n is a positive integer greater than 1;
in each partition to be planned, determining M planning lines of the partition to be planned based on M first planning points on a first boundary line of the partition to be planned and M second planning points on a second boundary line of the partition to be planned; the first boundary line and the second boundary line are two dividing lines for dividing the partition to be planned; m is a positive integer greater than 0;
In the area to be planned, the first planning point and the second planning point are used as path splicing points, and the M planning lines of each area to be planned are spliced to obtain M printing paths;
wherein, the determining the M rule lines of the to-be-planned partition based on the M first planning points on the first boundary line and the M second planning points on the second boundary line of the to-be-planned partition includes:
based on preset printing precision, determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction, and determining K second sampling points on a fourth boundary line of the partition to be planned; the third boundary line is a segment of the inner contour, and the fourth boundary line is a segment of the outer contour; k is a positive integer greater than 0;
based on the first preset sampling point direction, the first sampling points and the second sampling points are connected in pairs to obtain K guide lines;
based on the preset printing precision, respectively determining M third planning points on each guide line along a second preset sampling point direction, determining M first planning points on the first boundary line, and determining M second planning points on the second boundary line;
Dividing the M third planning points, the M first planning points and the M second planning points into M different point sets based on the second preset mining point direction;
fitting the points in each point set based on a Bezier curve algorithm to obtain the M rule lines.
2. The method of claim 1, wherein the geometric distribution parameters include geometric shape and contour edge count.
3. The method of planning a print path according to claim 2, wherein the determining N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour includes:
under the condition that the inner contour and the outer contour are both communication curves, determining a central line based on a central point corresponding to the area to be planned;
two cut lines of the center line on the inner contour and the outer contour are determined as two dividing lines.
4. The method of planning a print path according to claim 2, wherein the determining N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour includes:
And under the condition that the inner contour is a communication curve and the outer contour is a communication fold line, or the inner contour is a communication fold line and the outer contour is a communication curve, connecting the central point corresponding to the area to be planned with N folding points of the communication fold line respectively to obtain N connecting lines, and determining N cutting lines of the N connecting lines on the inner contour and the outer contour as N dividing lines.
5. The method for planning a print path according to claim 4, wherein distances between adjacent sampling points in the K first sampling points are equal, and distances between adjacent sampling points in the K second sampling points are equal; and the distances between adjacent planning points in the M first planning points are equal, and the distances between adjacent planning points in the M second planning points are equal.
6. The method for planning a print path according to any one of claims 1 to 5, wherein after obtaining M print paths, the method further comprises:
and 3D printing is carried out on the continuous fiber reinforced resin matrix composite based on the printing path.
7. A printing path planning apparatus, comprising:
the acquisition module is used for acquiring the area to be planned; the area to be planned comprises an inner contour and an outer contour, and the inner contour is not communicated with the outer contour;
The determining module is used for determining N dividing lines in the area to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the area to be planned into N areas to be planned based on the N dividing lines; a first end of the parting line is on the inner contour and a second end of the parting line is on the outer contour; n is a positive integer greater than 1;
the determining module is further configured to determine, in each partition to be planned, M planning lines of the partition to be planned based on M first planning points on a first boundary line of the partition to be planned and M second planning points on a second boundary line of the partition to be planned; the first boundary line and the second boundary line are two dividing lines for dividing the partition to be planned; m is a positive integer greater than 0;
the splicing module is used for splicing the M planning lines of each to-be-planned partition by taking the first planning point and the second planning point as path splicing points in the to-be-planned area to obtain M printing paths;
the determining module is specifically configured to:
based on preset printing precision, determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction, and determining K second sampling points on a fourth boundary line of the partition to be planned; the third boundary line is a segment of the inner contour, and the fourth boundary line is a segment of the outer contour; k is a positive integer greater than 0;
Based on a first preset sampling point direction, connecting the first sampling points and the second sampling points in pairs to obtain K guide lines;
based on preset printing precision, respectively determining M third planning points on each guide line along a second preset sampling point direction, determining M first planning points on a first boundary line, and determining M second planning points on a second boundary line;
dividing M third planning points, M first planning points and M second planning points into M different point sets based on a second preset mining point direction;
fitting the points in each point set based on Bezier curve algorithm to obtain M rule lines.
8. A printing path planning device, comprising a memory, a processor, a bus and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through the bus;
when the printing path planning apparatus is operated, the processor executes the computer-executable instructions stored in the memory to cause the printing path planning apparatus to perform the printing path planning method according to any one of claims 1 to 6.
9. A computer readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the method of planning a print path according to any one of claims 1-6.
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