CN111951399A - Track planning method based on voxel curved surface distance field in additive manufacturing - Google Patents
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Abstract
The invention belongs to the technical field related to additive manufacturing and discloses a track planning method based on a voxel curved surface distance field in additive manufacturing. The method comprises the following steps: s1, the upper surface of the base of the object to be processed is voxelized, and voxels intersected with the upper surface of the base form a voxel curved surface; s2, presetting an initial processing curve according to the object to be formed, and intersecting the initial processing curve with the voxel curved surface to form an initial voxel curve; s3, calculating the distance values between all voxels on the voxel curved surface and the initial voxel curve, wherein the distance values are the same, and adjacent voxels form an equivalent voxel curve; s4, calculating the current distance values corresponding to all voxels on the iso-voxel curve; s5 selects a target voxel, and forms a contour line using the target voxel, where the contour line is an additive or subtractive processing trajectory of the surface of the processing object. By the method, the contour line distance field-based planning of the processing track is realized, the path planning is accurate, and the processing precision is high.
Description
Technical Field
The invention belongs to the technical field related to additive manufacturing or additive manufacturing, and particularly relates to a track planning method based on a voxel curved surface distance field in additive manufacturing.
Background
The contour line is a research hotspot of computer graphics, and has wide application in the fields of engineering analysis, manufacturing and calculation, such as contour line topographic map of aerial survey, isothermal map in temperature field, contour map of equivalent stress strain field in finite element analysis process, material increase and decrease manufacturing processing track, and the like.
At present, due to strong specialization, great difficulty and long period of developing the isoline software, the price of the current foreign genuine isoline software is high, and no special isoline software exists in China; with the rapid development of domestic industry, the application of the contour line technology is increasingly wide, such as the application in the curved surface processing field and the additive manufacturing field, and in addition, the application of the contour line is increasingly diversified and personalized; in order to solve the problems, the invention provides a track planning method based on a voxel curved surface distance field in additive manufacturing.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a track planning method based on a voxel curved surface distance field in the manufacturing of an additive material.
To achieve the above object, according to the present invention, there is provided a method for planning a track based on a voxel curved surface distance field in additive manufacturing, the method comprising the steps of:
s1, gridding the curved surface of the upper surface of a base where an object to be processed is located, enveloping the gridded curved surface by using an enclosing frame, dividing the enclosing frame into a plurality of cubes with the same size, wherein each cube is a voxel, namely a plurality of voxels are obtained, selecting a vertex on the voxel to represent the voxel, namely a labeled vertex, intersecting the obtained plurality of voxels with the upper surface of the base, and forming a voxel curved surface by the intersected voxels;
s2, presetting an initial processing curve according to the shape of the object to be processed, wherein the initial processing curve is intersected with the voxel curved surface obtained in the step S1, and the intersected voxels form an initial voxel curve;
s3, taking the initial voxel curve as an initial position, calculating the distance values between all voxels on the voxel curved surface and the initial voxel curve, forming a set by the voxels with the same distance value, and connecting adjacent voxels in the set to form one or more voxel curves with the same distance value, namely an equivalent voxel curve;
s4, for each iso-voxel curve, selecting a voxel on the iso-voxel curve as an initial voxel, taking the initial voxel as a boundary, dividing the iso-voxel curve into two parts, respectively calculating the distance between each voxel in the two parts and the initial voxel, replacing the distance value between one part of voxels and the initial voxel with the inverse number of the distance value, and taking the inverse number as the current distance value of the voxel, so as to obtain the current distance values corresponding to all voxels on the iso-voxel curve;
s5, in the step S4, one voxel corresponding to the current distance value is selected as a target voxel from the voxels corresponding to the current distance value, the distance between each vertex on the target voxel and the initial voxel curve is calculated, interpolation is performed between the vertices corresponding to the maximum distance value and the minimum distance value to obtain an interpolation point, the interpolation point is a required equivalence point, the equivalence points of all the target voxels are connected to form an equivalence line, the equivalence line is a processing track on one slice layer in additive manufacturing or additive manufacturing, the processing track is shifted for multiple times to obtain the processing tracks of all the slice layers, and therefore the curved surface track planning of the object to be processed in the additive manufacturing is achieved.
Further preferably, in S1, the building of the bounding box is performed as follows: establishing a space coordinate system, and establishing a minimum cuboid in the three coordinate axis directions of the space coordinate system, wherein the minimum cuboid is a required surrounding frame.
Further preferably, in step S3, the distance values between all voxels on the calculated voxel curved surface and the initial voxel curve are calculated by using a breadth-first traversal and shortest path algorithm.
Further preferably, in step S3, the neighboring voxels are connected to form one or more voxel curves with the same distance value, and a clustering algorithm is used.
Further preferably, in step S5, the method selects a voxel corresponding to the current distance value as a target voxel, and when there are multiple voxels corresponding to the current distance value, calculates an average value of labeled vertex coordinates of the multiple voxels, and a voxel closest to the average value is a required target voxel.
Further preferably, in S5, when calculating the distance from each vertex on the target voxel to the initial voxel curve, it is first determined whether the voxel corresponding to each vertex as a labeled vertex is on the voxel curved surface, when the vertex is on the voxel curved surface, the distance from the vertex to the initial voxel curve is calculated, otherwise, the vertex is discarded.
Further preferably, in step S5, the interpolation is performed by interpolation in the following manner:
where C is the coordinate of the interpolation point, and A and B are the respective distance maxima dmaxAnd the minimum value of distance dminThe corresponding vertex coordinates, d, are the distance of the interpolation point C from the initial voxel curve.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. according to the method, the isoline calculation is based on the discrete hexahedral mesh, the isoline with any shape can be generated, the accuracy and the calculation efficiency of the isoline can be guaranteed along with the improvement of the computer calculation capacity, the isoline calculation is based on the three-dimensional distance field, the calculation efficiency is effectively improved, meanwhile, a user can define the zero value of the three-dimensional distance field by self, so that an isoline style is designed, and the personalized requirements can be met;
2. the trajectory planning method based on the isoline distance field is high in calculation efficiency, capable of effectively and quickly obtaining the machining trajectory for additive manufacturing or additive reducing manufacturing, low in cost, high in accuracy of the obtained machining trajectory, and capable of effectively guiding the additive manufacturing or additive reducing manufacturing process.
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FIG. 1 is a flow diagram of a method for trajectory planning based on a voxel surface distance field in additive manufacturing, constructed in accordance with a preferred embodiment of the present invention;
fig. 2 is a surface voxelization process and an initial voxel curve constructed according to a preferred embodiment of the present invention, wherein (a) the solid line region is a surface processing region of an object to be formed, (b) the surface surrounding frame voxelization result of the object to be formed, (c) the surface voxelization result of the object to be formed, i.e., a voxel surface, and (d) the initial voxel curve on the voxel surface;
FIG. 3 is a schematic diagram of an iso-voxel curve generated from a curved distance field constructed in accordance with a preferred embodiment of the invention;
fig. 4 is a schematic diagram of calculating the current distance of the iso-voxel curve, constructed according to the preferred embodiment of the present invention, where (a) is the current distance value of the voxel on one side of the initial voxel after the initial voxel is selected on the iso-voxel curve, i.e. forward traversal, (b) is the current distance value of the voxel on the other side of the initial voxel, i.e. reverse traversal, (c) is the current distance values of all voxels corresponding to the iso-voxel curve when it is thicker, (d) is the current distance values of all voxels corresponding to the iso-voxel curve when it is closed, and (e) is the current distance values of all voxels when the iso-voxel curve is flat and closed;
FIG. 5 is a schematic illustration of three contour patterns constructed in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic illustration of a curved additive manufacturing contour trace constructed in accordance with a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, a method for planning a track based on a voxel curved surface distance field in additive manufacturing includes the following steps:
planning the track of the surface processing area of the object to be processed according to the following steps:
(a) surface voxelization
The bounding box of the surface of the object to be processed is divided into cubes with the same size, namely, voxels, the voxels intersected with the curved surface form the voxel curved surface of the curved surface, and the voxels are represented by specific vertexes of the voxels, so that any voxel has accurate coordinates, namely voxel coordinates. The process of surface voxelization is visualized by a two-dimensional graph, as shown in (a) to (d) of fig. 2.
(b) Specifying initial voxel curves
The existing curve on the designated curved surface, such as the contour of a processing area or the processing track of a designated line type, can be used as an initial processing curve, and the voxels intersected with the curve form a voxel curve; the voxels that make up the initial voxel curve can also be picked up by a mouse on a computer screen. As shown in fig. 2 (d), the contour of the disk is designated as an initial voxel curve.
(c) Computing distance field of curved surfaces
And setting the distance value of the voxel on the initial voxel curve as a zero value, setting the rest voxels on the curved surface as infinite values, starting from the voxel with the zero value, performing breadth-first traversal, and calculating the minimum distance value for all the voxels on the curved surface. The minimum distance value algorithm is based on a shortest path algorithm, the shortest path from each traversed voxel to a voxel with a value of zero is calculated for each traversed voxel, and the path length is used as the minimum distance value of the voxel. As shown in fig. 3, the voxels are color graded, representing a gradual progression of the distance field from a zero value to a maximum value.
(d) Generating an equivalent voxel curve
An iso-voxel curve is generated from the curved distance field. An iso-voxel curve is a collection of voxels that span the same distance value, as shown in fig. 3, and is represented by the same color. A voxel on the isovolumetric curve with the distance value d, wherein the vertexes A and B are the vertexes with the maximum and minimum distance values in 8 vertexes, and the distance values are d respectivelymaxAnd dminSatisfy dmin＜d＜dmaxThis voxel is called the spanning distance value d.
(e) Generating connected equivalent voxel curves
And dividing one equivalent voxel curve into a plurality of connected equivalent voxel curves through a clustering algorithm. A connected iso-voxel curve is continuous in space. As shown in fig. 3, the isovoxel curve with the largest distance value is red, and there are 4 connected isovoxel curves. It can also be seen that the connected iso-voxel curves may be closed or non-closed.
(f) Equivalent voxel ordering
For the non-closed voxel curve shown in (a) in fig. 4, any voxel (red voxel) is searched for a neighborhood with radius r (where r is 3, the neighborhood is represented by a dashed box), the voxel distance value of the equivalent voxel curve in this neighborhood range is set to zero, the remaining voxel distance values are set to infinity, and the distance field is calculated piecewise by using a distance field algorithm similar to that in step (c). There is a difference compared to the distance field algorithm in step (c), i.e., the distance of neighboring voxels is 1. In the first round of traversal, namely forward traversal in the figure, zero-value voxels (yellow voxels) on the neighborhood boundary are traversed to non-zero-value voxels, the minimum distance value of 1-4 is obtained through calculation, and the distance value of the non-traversed voxels is set to be infinite after the traversal is finished. And traversing the non-traversed voxels on the equivalent voxel curve from the zero-valued voxels, as shown in (b) in fig. 4, calculating to obtain minimum distance values of 1-8, and replacing the distance values with opposite numbers after calculation to obtain-1-8. The order of the equivalent voxel distance values from-8 to 4 is the ordering of the equivalent voxels, the ordering in this embodiment is the ordering process performed by using the current distance values of the voxels, and the "coarse" equivalent voxel curve is shown in fig. 4 (c), and the above-described ordering method is still applicable.
The above sorting method is still applicable for the closed voxel curve shown in fig. 4 (d). Fig. 4 (e) shows a special case where the closed voxel curve is "flat" and divided into segments by the neighborhood, and the above sorting method is still applicable.
(g) Generating a contour
Since there may exist a plurality of voxels with the same sequence number, as shown in fig. 4 (c), the average coordinate of the coordinates of the voxels with the same sequence number needs to be calculated first, and the voxel closest to the average coordinate is selected as the unique voxel corresponding to the sequence number. Inserting an equivalence point on a connection line of the vertex of the voxel maximum distance value and the vertex of the voxel minimum distance value, as shown in fig. 3, where the distance values are dmaxAnd dminThe distance d (d) between the two vertices A and Bmin＜d＜dmax) The coordinate of the equivalent point C of
All the equivalence points of one connected equivalence voxel curve are connected into an equivalence line in sequence.
Example fig. as shown in fig. 5, the three contour patterns of "boss" are shown in detail. More styles can be designed according to requirements, the contour style is directly influenced by the shape of the initial processing curve, and the interactive design capability of the method is embodied.
The method can generate the contour line track for the curved surface additive manufacturing or the material reducing manufacturing, as shown in fig. 6, a contour line pattern 3 is applied, the processing tracks of all the sliced layers can be obtained after the processing tracks of the single sliced layer obtained by the method are subjected to deviation for multiple times, and the product in fig. 6 can be obtained by processing according to the method.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A trajectory planning method based on a voxel curved surface distance field in additive manufacturing is characterized by comprising the following steps:
s1, gridding the curved surface of the upper surface of a base where an object to be processed is located, enveloping the gridded curved surface by using an enclosing frame, dividing the enclosing frame into a plurality of cubes with the same size, wherein each cube is a voxel, namely a plurality of voxels are obtained, selecting a vertex on the voxel to represent the voxel, namely a labeled vertex, intersecting the obtained plurality of voxels with the upper surface of the base, and forming a voxel curved surface by the intersected voxels;
s2, presetting an initial processing curve according to the shape of the object to be processed, wherein the initial processing curve is intersected with the voxel curved surface obtained in the step S1, and the intersected voxels form an initial voxel curve;
s3, taking the initial voxel curve as an initial position, calculating the distance values between all voxels on the voxel curved surface and the initial voxel curve, forming a set by the voxels with the same distance value, and connecting adjacent voxels in the set to form one or more voxel curves with the same distance value, namely an equivalent voxel curve;
s4, for each iso-voxel curve, selecting a voxel on the iso-voxel curve as an initial voxel, taking the initial voxel as a boundary, dividing the iso-voxel curve into two parts, respectively calculating the distance between each voxel in the two parts and the initial voxel, replacing the distance value between one part of voxels and the initial voxel with the inverse number of the distance value, and taking the inverse number as the current distance value of the voxel, so as to obtain the current distance values corresponding to all voxels on the iso-voxel curve;
s5, in the step S4, one voxel corresponding to the current distance value is selected as a target voxel from the voxels corresponding to the current distance value, the distance between each vertex on the target voxel and the initial voxel curve is calculated, interpolation is performed between the vertices corresponding to the maximum distance value and the minimum distance value to obtain an interpolation point, the interpolation point is a required equivalence point, the equivalence points of all the target voxels are connected to form an equivalence line, the equivalence line is a processing track on one slice layer in additive manufacturing or additive manufacturing, the processing track is shifted for multiple times to obtain the processing tracks of all the slice layers, and therefore the curved surface track planning of the object to be processed in the additive manufacturing is achieved.
2. The method for planning a trajectory based on a voxel curved surface distance field in additive manufacturing according to claim 1, wherein in S1, the bounding box is established as follows: establishing a space coordinate system, and establishing a minimum cuboid in the three coordinate axis directions of the space coordinate system, wherein the minimum cuboid is a required surrounding frame.
3. The method for planning a track based on a voxel curved surface distance field in additive manufacturing according to claim 1, wherein in step S3, the distance value between all voxels on the voxel curved surface and the initial voxel curve is calculated by using a breadth-first traversal and shortest path algorithm.
4. The method for planning a trajectory based on a distance field from a curved surface of a voxel in manufacturing additive according to claim 1, wherein in step S3, the neighboring voxels are connected to form one or more curves of voxels with the same distance value, and a clustering algorithm is used.
5. The method of claim 1, wherein in step S5, a voxel corresponding to the current distance value is selected as a target voxel, and when there are a plurality of voxels corresponding to the current distance value, an average of labeled vertex coordinates of the plurality of voxels is calculated, and a voxel closest to the average is the desired target voxel.
6. The method according to claim 1, wherein in S5, when calculating the distance from each vertex on the target voxel to the initial voxel curve, it is determined whether the voxel corresponding to each vertex as a labeled vertex is on the voxel curve, when the vertex is on the voxel curve corresponding to the labeled vertex, the distance from the vertex to the initial voxel curve is calculated, otherwise, the vertex is discarded.
7. The method for planning a trajectory based on a voxel curved surface distance field in additive manufacturing according to claim 1, wherein in step S5, the interpolation is performed by the following method:
where C is the coordinate of the interpolation point, and A and B are the respective distance maxima dmaxAnd the minimum value of distance dminThe corresponding vertex coordinates, d, are the distance of the interpolation point C from the initial voxel curve.
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