CN105881897B - The optimal mobile route planing method of shower nozzle in 3 D-printing - Google Patents
The optimal mobile route planing method of shower nozzle in 3 D-printing Download PDFInfo
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- CN105881897B CN105881897B CN201610190225.7A CN201610190225A CN105881897B CN 105881897 B CN105881897 B CN 105881897B CN 201610190225 A CN201610190225 A CN 201610190225A CN 105881897 B CN105881897 B CN 105881897B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000007639 printing Methods 0.000 title claims abstract description 23
- 239000011248 coating agent Substances 0.000 claims abstract description 77
- 238000000576 coating method Methods 0.000 claims abstract description 77
- 239000007921 spray Substances 0.000 claims abstract description 10
- 238000005507 spraying Methods 0.000 claims abstract description 10
- 238000013178 mathematical model Methods 0.000 claims abstract description 7
- 238000012804 iterative process Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 6
- 238000000465 moulding Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012943 hotmelt Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000000110 selective laser sintering Methods 0.000 description 1
Classifications
-
- 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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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention relates to the optimal mobile route planing method of shower nozzle in 3 D-printing, for spraying the coating cross sections to be painted after article threedimensional model layering to be printed, this method rasterization process is by the mathematical model rasterization process of article to be printed, obtain after article threedimensional model, shower nozzle is in the internal spray of one of them coating to be painted of threedimensional model, by the adjacent map for obtaining coating voxel of object to be painted, and set in adjacent map the weights of line between voxel two-by-two, the problem of mobile route planning problem of the shower nozzle in coating to be painted is converted into each line weights sum minimum value of calculating；Each voxel in adjacent map is found by iteration, the node for obtaining the neighborhood of satisfaction four of shower nozzle last visit node and not accessing, to form optimal mobile route of the shower nozzle in coat inside to be painted, ensure shower nozzle without the voxel for repeating respectively to need to print in traversal adjacent map, avoid shower nozzle from the long period occur in each position and redirect interval, it is ensured that stability during printed matter Products threedimensional model.
Description
Technical field
The present invention relates to a kind of optimal mobile route planning side of shower nozzle in 3 D-printing field, more particularly to 3 D-printing
Method.
Background technology
The new technology that 3 D-printing flourishes as manufacture field, is referred to as " having industrial revolution meaning
Manufacturing technology ".3 D-printing is also known as increment manufacture, and it can print high level of architectural complexity and merrily and lightheartedly stable product is former
Shape.For 3 D-printing concrete implementation mechanism, there is laser curing photosensitive resin to be molded (SLA), fusion stacking shaping
(FDM), 3-D spraying molding bonded (3DP) and selective laser sintering and moulding (SLS) etc..Wherein, fusion stacking is molded
(FDM) it is more typical one kind in 3 D-printing, occupies the market share of 3 D-printing about 30%.Fusion stacking shaping
Core concept is to print successively, by voxel.Therefore, the path planning of shower nozzle is the crucial composition in melt-laminated molding technology
Part, is also the important subject of following three-dimensional printing technology field.
At present, most of three-dimensional printer operation principles based on melt-laminated molding technology so work：First,
According to thought is successively printed, in each coating to be painted, it is contemplated that calculate the cross section information and shower nozzle of the mathematical model of product to be printed
Motion track；Secondly, in actual print procedure, shower nozzle persistently makees X-Y plane motion, thermoplasticity in the section of coating to be painted
Filamentary material delivers to hot melt shower nozzle by silk supplying machine structure, and heats and be fused into semi liquid state in the showerhead, flow to the position specified；Such as
This circulation, untill printing the whole threedimensional model of product.
During 3 D-printing, printing of the shower nozzle in each coating to be painted at least needs to meet certain requirement：Shower nozzle
Both need to meet the voxel that shower nozzle must be printed after each needs when being printed in the section of coating to be painted, and with one
Element can not repeatedly be printed by shower nozzle, meet reduce shower nozzle redirecting in each position as far as possible again, even if shower nozzle must be redirected,
It is required that to redirect interval unsuitable oversize for this of shower nozzle.However, not proposing effective spray in existing 3 D-printing research field
Head mobile route Planning Measures are with while meet above-mentioned printing requirement.It can be seen that, the mobile route planning of shower nozzle, especially shower nozzle exists
Mobile route planning in the section of coating to be painted is the key components during 3 D-printing.
The content of the invention
The technical problems to be solved by the invention are to provide one kind for above-mentioned prior art to ensure that shower nozzle is traveled through
It is each in coating to be painted to need the voxel of printing, realize that same voxel is not printed repeatedly, shower nozzle can be avoided again in each position
There is the optimal mobile route planing method that the long period redirects shower nozzle in the 3 D-printing at interval.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：The optimal mobile route of shower nozzle in 3 D-printing
Planing method, for spraying the coating cross sections to be painted after article threedimensional model layering to be printed, it is characterised in that successively including such as
Lower step：
Step (1), the mathematical model of article to be printed is carried out at rasterisation in given rectangular coordinate system O-XYZ
Reason, is utilized all voxels fallen in interior of articles of triple mark；
Step (2), each coating to be painted is handled along the forward direction of Z axis, using the voxel of the coating to be painted as summit, sets up adjacent
Map interlinking G, and set the weights on coating to be painted between two voxels；Wherein, it is respectively point (i, j) and point to set two voxels
(i', j'), the weights W between them is defined as follows：
Step (3), sets the number of all voxels on coating to be painted as n, selects therein in resulting adjacent map G
One voxel v1, and by voxel v1It is designated as the accessed node that shower nozzle sprays path；
Step (4), according to obtained adjacent map G, carries out the iteration for voxel, is constantly looked in iteration and last time
Accessed node meets four Neighbor Conditions and the node not accessed, and forms the mobile route of shower nozzle；Wherein, for the iteration of voxel
Process following steps (4-1) and step (4-2)：
Step (4-1), in adjacent map G, is removing voxel v1Remaining n-1 voxel in, with voxel v1Meet neighbours
One of point v is selected in domain condition and the node not accessedrIt is used as the nearest accessed node of shower nozzle；
Step (4-2), searches the nearest accessed node vrThe Neighbor Condition of all satisfactions four and the node that does not access, then
To node vrThe Neighbor Condition of satisfaction four and these nodes for not accessing in any one node conduct interviews, until shower nozzle most
When not meeting four Neighbor Conditions in nearly accessed node and all non-accessed nodes, then stop iteration and access；Wherein, shower nozzle
Stop node when iteration is accessed and be designated as vr+1, now the access path of shower nozzle be designated as S1, S1=(v1,v2,…,vr,vr+1)；
Step (5), access path S resulting when stopping is accessed according to iteration1, to access path S1On node
Number k1Counted, and according to statistics gained access path S1On node number k1Make the following judgment operation：
Step (5-1), as gained access path S1On node number k1Less than the number of all voxels on the coating to be painted
N, i.e. k1During ＜ n, S on setting path1There is node viIt is node vr+1The Neighbor Condition of satisfaction four node, and node vi+1Tool
There is the node w for the Neighbor Condition of satisfaction four not accessed, adjacent node w is not in path S1On, then to original route S1Rearrange,
Obtain path S2, and in gained path S2Node w is added afterwards, obtains new route S3, and according to new route S3, perform step (6)；
Wherein, path S2With new route S3It is expressed as follows：
Path S2=(v1,v2,…,vi-1,vi,vr+1,vr,vr-1,…,vi+1)；
New route S3=(v1,v2,…,vi-1,vi,vr+1,vr,vr-1,…,vi+1,w)；
Step (5-2), as gained access path S1On node number k1More than or equal to all voxels on the coating to be painted
Number n, i.e. k1During >=n, then outgoing route S1For the optimal mobile route of shower nozzle, terminate to judge operation；
Step (6), to path S3On nodes counted, and according to path S3On nodes k3It is to be sprayed with this
The number n of all voxels is proceeded as follows on layer：
Step (6-1), as path S3On nodes k3Less than the number n, i.e. k of all voxels on the coating to be painted3＜ n
When, it is set in path S3On there is node vj, and node vjNode w with the Neighbor Condition of satisfaction four not accessed1, this is adjacent
Node w1Not in path S3On, then mark node w1For nearest accessed node；Then in the nearest accessed node w of mark1's
In all m-1 nodes for not accessing and meeting four Neighbor Conditions, one of those optional non-accessed node conducts interviews, so that
From node w1Extension obtains path S4, and perform step (7)；Wherein, path S4=(w1,w2,…,wm-1,wm)；
Step (6-2), as gained path S3On node number k3More than or equal to of all voxels on the coating to be painted
Number n, i.e. k3During >=n, then outgoing route S3For the optimal mobile route of shower nozzle, terminate to judge operation；
Step (7), in path S obtained by extension4On, if node wmWith the node for not accessing and meeting four Neighbor Conditions
vg, and meet i+1 ＜ g ＜ k3, node vi+1It is node vg+1The Neighbor Condition of satisfaction four node, then by original path S3Become
New route S5, and perform step (8)；Wherein, gained new route S5It is expressed as follows：
Step (8), if in path S5On nodes k5Still less than the number n of all voxels on the coating to be painted, i.e.,
k5During ＜ n, then by path S5On node visit order carry out backward, obtain path S5Backward path S6, and by backward path
S6It is used as new path S3Afterwards, turn again in step (6) and perform judgement；Wherein, backward path S6It is expressed as below：
If in path S5On nodes k5More than or equal to the number n, i.e. k of all voxels on the coating to be painted5≥
During n, then outgoing route S5For the optimal mobile route of shower nozzle, terminate to judge operation.
Compared with prior art, the advantage of the invention is that：
First, by the mathematical model rasterization process of article to be printed in the present invention, and the three-dimensional of article to be printed is obtained
After model, when shower nozzle carries out spraying filling in the inside of one of them coating to be painted of threedimensional model, by obtaining coating to be painted
The adjacent map of voxel of object, and set in adjacent map the weights of line between voxel two-by-two, will planning shower nozzle in coating to be painted
The problem of spraying mobile route problem in portion is converted to each line weights sum minimum value of calculating, exists so as to simplify planning shower nozzle
Coat inside mobile route computation complexity to be painted；
Secondly, found by the iteration for each voxel in adjacent map, obtain the neighborhood bar of satisfaction four of last visit node
Part and the node not accessed, to form optimal mobile route of the shower nozzle in coating internal spray to be painted, the shower nozzle of formation should
Optimal mobile route had both ensured that shower nozzle traveled through each voxel for needing to print in adjacent map, realizes that same voxel is not printed repeatedly,
Shower nozzle can be avoided to occur the long period in each position again and redirect interval, it is ensured that model during printed matter Products threedimensional model is steady
It is qualitative, improve the speed of 3 D-printing.
Brief description of the drawings
Fig. 1 is the optimal mobile route planing method schematic flow sheet of shower nozzle in 3 D-printing of the embodiment of the present invention；
Fig. 2 is the voxel location schematic diagram that tissue points P meets four Neighbor Conditions with it.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
For the spraying problem of each cross-sectional internal of the shower nozzle after article threedimensional model to be printed layering, the present embodiment is provided
A kind of optimal mobile route planing method of shower nozzle, the cross-sectional internal of sprayed coating can be treated using the mobile route planing method
Effectively sprayed.Specifically, the optimal mobile route planing method of the shower nozzle, in turn includes the following steps：
Step (1), the mathematical model of article to be printed is carried out at rasterisation in given rectangular coordinate system O-XYZ
Reason, is utilized all voxels fallen in interior of articles of triple mark；
By by after article mathematical model rasterization process to be printed, obtaining the threedimensional model of article to be printed, this waits to beat
It is made up of inside print article voxel, each voxel is identified using triple, i.e., marked using three-dimensional coordinate, for example, waiting to beat
The three-dimensional coordinate for printing some voxel inside article is (x, y, z)；The threedimensional model of article to be printed is by along Z axis forward more
Individual two-dimentional coating to be painted is constituted；
Assuming that the threedimensional model V of article to be printed is made up of N number of two-dimentional coating to be painted, the movement of shower nozzle in the present embodiment
Paths planning method is that the inner track for one of them coating to be painted being directed in N number of two-dimentional coating to be painted is carried out；When shower nozzle profit
After the inner track spraying for completing one layer with the optimal mobile route planing method, recycle Polygonal Approximation filling to be painted
Behind the exterior contour path of coating, the exterior contour path for having filled the coating to be painted, shower nozzle transfers to utilize the optimal mobile road
Footpath planing method continues to be sequentially completed the spraying process of remaining each coating inner track to be painted；
Step (2), each coating to be painted is handled along the forward direction of Z axis, using the voxel of the coating to be painted as summit, sets up adjacent
Map interlinking G, and set the weights on coating to be painted between two voxels；The line of two voxels constitutes a line, and the weights are generation
Relative distance between two voxels of table, the path planning that so we just can be shower nozzle in the coating internal spray to be painted
It is Hamiltonian graph problem, the i.e. inside in coating to be painted that problem is abstract, as long as so that shower nozzle traversed voxel two-by-two successively
Between all lines weights sum it is minimum, now correspond to all voxels that shower nozzle had both traveled through the coat inside to be painted, again may be used
Spraying is not repeated with the same voxel for ensureing the coat inside to be painted, so as to improve spray efficiency；
Wherein, the weights situation on line between two voxels makes the following instructions：Setting two voxels be respectively point (i,
J) with point (i', j'), the weights W between them is defined as follows：
Step (3), sets the number of all voxels on coating to be painted as n, n voxel on coating to be painted includes satisfaction
In the voxel of four Neighbor Conditions and the voxel for being unsatisfactory for four Neighbor Conditions, the n voxel on coating to be painted, any two voxel
Between be connected with each other, then all connecting lines on coating to be painted constitute adjacent map G, in resulting adjacent map G select
One of voxel v1, and by voxel v1It is designated as the accessed node that shower nozzle sprays path；Wherein, accessed node herein
Represent the voxel that shower nozzle had stepped through；In all voxels of coating to be painted, the voxel for meeting four Neighbor Conditions is divided into one
Class, so setting can ensure that stability and guarantee shower nozzle when threedimensional model is printed have most in the inside of coating to be painted
Short mobile route, to reduce the movement of large span as far as possible；
For example, set point P (x, y, z) is the voxel on coating to be painted, then tissue points P four neighboring voxels are respectively P1
(x,y+1,z)、P2(x+1,y,z)、P3(x, y-1, z) and P4(x-1, y, z), concrete condition is referring to shown in Fig. 2, voxel P1、P2、
P3And P4It is the node of the tissue points P Neighbor Condition of satisfaction four, that is to say, that voxel P1、P2、P3And P4Also it is tissue points
P adjacent node；
Step (4), according to obtained adjacent map G, carries out the iteration for voxel, is constantly looked in iteration and last time
Accessed node meets four Neighbor Conditions and the node not accessed, and forms the mobile route of shower nozzle；Wherein, for the iteration of voxel
Process following steps (4-1) and step (4-2)：
Step (4-1), in adjacent map G, is removing voxel v1Remaining n-1 voxel in, with voxel v1Meet neighbours
One of point v is selected in domain condition and the node not accessedrIt is used as the nearest accessed node of shower nozzle；
Step (4-2), searches the nearest accessed node vrThe Neighbor Condition of all satisfactions four and the node that does not access, then
To node vrThe Neighbor Condition of satisfaction four and these nodes for not accessing in any one node conduct interviews, until shower nozzle most
When not meeting four Neighbor Conditions in nearly accessed node and all non-accessed nodes, then stop iteration and access；Wherein, shower nozzle
Stop node when iteration is accessed and be designated as vr+1, now the access path of shower nozzle be designated as S1, S1=(v1,v2,…,vr,vr+1)；
Step (5), access path S resulting when stopping is accessed according to iteration1, count and obtain access path S1On
All node number k1, and according to statistics gained access path S1On node number k1Make the following judgment operation：
Step (5-1), as gained access path S1On node number k1Less than the number of all voxels on the coating to be painted
N, i.e. k1During ＜ n, illustrate access path S1Only by the part voxel on the coating to be painted, then extensions path is needed to pass through
All voxels on the coating to be painted, set path S1On there is node viIt is node vr+1The Neighbor Condition of satisfaction four node,
And node vi+1Node w with the Neighbor Condition of satisfaction four not accessed, adjacent node w is not in path S1On, then to path S1
Arrangement is re-started, path S is obtained2, path S2It is expressed as S2=(v1,v2,…,vi-1,vi,vr+1,vr,vr-1,…,vi+1)；And
In gained path S2Node w is added afterwards, so as to obtain new route S3, new route S3It is expressed as S3=(v1,v2,…,vi-1,vi,
vr+1,vr,vr-1,…,vi+1, w), then perform step (6)；
Step (5-2), as gained access path S1On node number k1More than or equal to all voxels on the coating to be painted
Number n, i.e. k1During >=n, illustrate access path S1All voxels on the coating to be painted are passed through, then outgoing route S1
For the optimal mobile route of shower nozzle, terminate to judge operation；Because access path S1Pass through all on the coating to be painted
Voxel, and have and only once, then the path S now exported1As optimal mobile route of the shower nozzle on the coating to be painted；
Step (6), to path S3On nodes counted, and according to path S3On nodes k3It is to be sprayed with this
The number n of all voxels is proceeded as follows on layer：
Step (6-1), as path S3On nodes k3Less than the number n, i.e. k of all voxels on the coating to be painted3＜ n
When, illustrate access path S3Only by the part voxel on the coating to be painted, then extensions path is needed with to be sprayed by this
All voxels on layer, are set in path S3On there is node vj, and node vjSection with the Neighbor Condition of satisfaction four not accessed
Point w1, adjacent node w1Not in path S3On, then mark node w1For nearest accessed node；Then saved in nearest access
Point w1All m-1 nodes for not accessing and meeting four Neighbor Conditions in, one of those optional non-accessed node is visited
Ask, so that from node w1Extension obtains path S4, S4=(w1,w2,…,wm-1,wm), then perform step (7)；Wherein, node w1
All m-1 nodes for not accessing and meeting four Neighbor Conditions be respectively labeled as w2,…,wm-1,wm；
Step (6-2), as gained path S3On node number k3More than or equal to of all voxels on the coating to be painted
Number n, i.e. k3During >=n, illustrate access path S3All voxels on the coating to be painted are passed through, then outgoing route S3For spray
The optimal mobile route of head, terminates to judge operation；Because access path S3All voxels on the coating to be painted are passed through,
And have and only once, then the path S now exported3As optimal mobile route of the shower nozzle on the coating to be painted；
Step (7), in path S obtained by extension4On, if node wmWith the node for not accessing and meeting four Neighbor Conditions
vg, and meet i+1 ＜ g ＜ k3, node vi+1It is node vg+1The Neighbor Condition of satisfaction four node, then by original path S3Become
New route S5,Then step is performed
(8)；
Step (8), if in path S5On nodes k5Still less than the number n of all voxels on the coating to be painted, i.e.,
k5During ＜ n, illustrate access path S5Only by the part voxel on the coating to be painted, then needing extensions path, this is treated with process
All voxels on sprayed coating, then by path S5On node visit order carry out backward, obtain path S5Backward path S6,And by backward path S6It is used as new road
Footpath S3Afterwards, turn again in step (6) and perform judgement；
If in path S5On nodes k5More than or equal to the number n, i.e. k of all voxels on the coating to be painted5≥
During n, illustrate access path S5All voxels on the coating to be painted are passed through, then outgoing route S5For the optimal shifting of shower nozzle
Dynamic path, terminates to judge operation, because access path S5All voxels on the coating to be painted are passed through, and has and only has
Once, then the path S now exported5As optimal mobile route of the shower nozzle when the coating internal spray to be painted is filled.
Claims (1)
1. the optimal mobile route planing method of shower nozzle in 3 D-printing, for spraying after article threedimensional model layering to be printed
Coating cross sections to be painted, it is characterised in that in turn include the following steps：
Step (1), carries out rasterization process in given rectangular coordinate system O-XYZ by the mathematical model of article to be printed, obtains
To all voxels fallen in interior of articles identified using triple；
Step (2), handles each coating to be painted along the forward direction of Z axis, using the voxel of the coating to be painted as summit, sets up adjacent map
G, and set the weights on coating to be painted between two voxels；Wherein, set two voxels be respectively point (i, j) with point (i',
J'), the weights W between them is defined as follows：
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Step (3), sets the number of all voxels on coating to be painted as n, one of those is selected in resulting adjacent map G
Voxel v1, and by voxel v1It is designated as the accessed node that shower nozzle sprays path；
Step (4), according to obtained adjacent map G, carries out the iteration for voxel, is constantly looked in iteration and last visit
Node meets four Neighbor Conditions and the node not accessed, and forms the mobile route of shower nozzle；Wherein, for the iterative process of voxel
Following steps (4-1) and step (4-2)：
Step (4-1), in adjacent map G, is removing voxel v1Remaining n-1 voxel in, with voxel v1Meet four neighborhood bars
One of point v is selected in part and the node not accessedrIt is used as the nearest accessed node of shower nozzle；
Step (4-2), searches the nearest accessed node vrThe Neighbor Condition of all satisfactions four and the node that does not access, then to section
Point vrThe Neighbor Condition of satisfaction four and these nodes for not accessing in any one node conduct interviews, until shower nozzle is visited recently
Ask that then stopping iteration being accessed when not meeting four Neighbor Conditions in node and all non-accessed nodes；Wherein, shower nozzle stops
Node when iteration is accessed is designated as vr+1, now the access path of shower nozzle be designated as S1, S1=(v1,v2,…,vr,vr+1)；
Step (5), access path S resulting when stopping is accessed according to iteration1, to access path S1On node number k1
Counted, and according to statistics gained access path S1On node number k1Make the following judgment operation：
Step (5-1), as gained access path S1On node number k1Less than the number n of all voxels on the coating to be painted, i.e.,
k1<During n, S on setting path1There is node viIt is node vr+1The Neighbor Condition of satisfaction four node, and node vi+1With not visiting
The node w for the Neighbor Condition of satisfaction four asked, adjacent node w is not in path S1On, then to original route S1Rearrange, obtain road
Footpath S2, and in gained path S2Node w is added afterwards, obtains new route S3, and according to new route S3, perform step (6)；Wherein, road
Footpath S2With new route S3It is expressed as follows：
Path S2=(v1,v2,…,vi-1,vi,vr+1,vr,vr-1,…,vi+1)；
New route S3=(v1,v2,…,vi-1,vi,vr+1,vr,vr-1,…,vi+1,w)；
Step (5-2), as gained access path S1On node number k1More than or equal to of all voxels on the coating to be painted
Number n, i.e. k1During >=n, then outgoing route S1For the optimal mobile route of shower nozzle, terminate to judge operation；
Step (6), to path S3On nodes counted, and according to path S3On nodes k3With on the coating to be painted
The number n of all voxels is proceeded as follows：
Step (6-1), as path S3On nodes k3Less than the number n, i.e. k of all voxels on the coating to be painted3<During n, if
It is scheduled on path S3On there is node vj, and node vjNode w with the Neighbor Condition of satisfaction four not accessed1, adjacent node w1
Not in path S3On, then mark node w1For nearest accessed node；Then in the nearest accessed node w of mark1It is all not
Access and meet in m-1 node of four Neighbor Conditions, optionally one of those non-accessed node conducts interviews, so that from node
w1Extension obtains path S4, and perform step (7)；Wherein, path S4=(w1,w2,…,wm-1,wm)；
Step (6-2), as gained path S3On node number k3More than or equal to the number n of all voxels on the coating to be painted,
That is k3During >=n, then outgoing route S3For the optimal mobile route of shower nozzle, terminate to judge operation；
Step (7), in path S obtained by extension4On, if node wmWith the node v for not accessing and meeting four Neighbor Conditionsg, and
Meet i+1<g<k3, node vi+1It is node vg+1The Neighbor Condition of satisfaction four node, then by original path S3Become new route
S5, and perform step (8)；Wherein, gained new route S5It is expressed as follows：
S5=(v1,v2,…,vi-1,vi,w1,w2,…,wm,vg,vg-1,…,vi+1,vg+1,vg+2,…,vk3)；
Step (8), if in path S5On nodes k5Still less than the number n, i.e. k of all voxels on the coating to be painted5<n
When, then by path S5On node visit order carry out backward, obtain path S5Backward path S6, and by backward path S6Make
For new path S3Afterwards, turn again in step (6) and perform judgement；Wherein, backward path S6It is expressed as below：
S6=(vk3,…,vg+2,vg+1,vi+1,…,vg-1,vg,wm,…,w2,w1,vi,vi-1,…v2,v1)；
If in path S5On nodes k5More than or equal to the number n, i.e. k of all voxels on the coating to be painted5During >=n,
Then outgoing route S5For the optimal mobile route of shower nozzle, terminate to judge operation.
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