CN114603857A - Method, device and equipment for planning printing path and storage medium - Google Patents
Method, device and equipment for planning printing path and storage medium Download PDFInfo
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- CN114603857A CN114603857A CN202210275985.3A CN202210275985A CN114603857A CN 114603857 A CN114603857 A CN 114603857A CN 202210275985 A CN202210275985 A CN 202210275985A CN 114603857 A CN114603857 A CN 114603857A
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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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- 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
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Abstract
The application discloses a method, a device, equipment and a storage medium for planning 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 backspacing 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 region to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the region 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 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 planned lines of each partition to be planned by taking the first planned point and the second planned point as path splicing points to obtain M printing paths.
Description
Technical Field
The present application 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 print path.
Background
The continuous fiber reinforced resin matrix composite material has the characteristics of high specific stiffness, specific strength, strong designability and the like, and is widely applied to the processing and forming processes of aerospace vehicles, airplanes, automobiles and various mechanical devices 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 component can be realized by the 3D printing technology of the continuous fiber reinforced resin matrix composite material at present.
In 3D printing of continuous fiber reinforced resin based composites, a print path may be planned first, and then fiber filling may be performed based on the planned print path. At present, an equidistant offset path planning method is often adopted to plan a printing path.
However, in the conventional equidistant offset path planning method, many small-angle corners may appear in the planned printing path, and these small-angle corners may cause large-angle adjustment of the printing direction during the printing process, resulting in breakage of the fiber bundle. In addition, these small angles of rotation in the print path can cause the fibers to print back severely.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for planning a printing path, which can avoid the occurrence of a small-angle corner in the planned printing path, thereby avoiding the problems of breakage in a fiber bundle and serious fiber printing rollback caused by the small-angle corner.
In order to achieve the purpose, the technical scheme is as follows:
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 region to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the region to be planned into N partitions to be planned based on the N dividing lines; the first end point of the dividing line is on the inner contour, and the second end point of the dividing 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 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 splicing the M marking lines of each partition to be planned by taking the first planning point and the second planning point as path splicing points in the partition to be planned to obtain M printing paths.
Because the inner contour and the outer contour of the area to be planned are not communicated, a printing path obtained based on the existing equidistant offset path planning method may have a corner with a small angle. According to the technical scheme, in order to avoid a small-angle corner in the printing path, after the region to be planned is obtained, the region to be planned can be divided into N partitions to be planned based on N dividing lines, then M marking lines are respectively determined in the partitions to be planned, and then the M marking lines of the partitions 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 to-be-planned partitions (namely the to-be-planned partitions are formed by surrounding of a communicated contour), and therefore the small-angle turning angle can be avoided from occurring in the M gauge marks determined by each to-be-planned partition. Therefore, in the M printing paths obtained by splicing the M gauge marks of each partition to be planned, the small-angle corner can be avoided. According to the method and the device, the areas to be planned are divided, and then the planning lines of all the partitions to be planned are spliced to obtain the printing path, so that the small-angle corner in the planned printing path can be avoided, and the problems of breakage in a fiber bundle and serious fiber printing backspacing caused by the small-angle corner can be avoided.
Alternatively, in one possible design, the geometric distribution parameters may include geometric shape and contour edge number.
Optionally, in another possible design manner, the "determining N dividing lines in the region to be planned based on the geometric distribution parameters of the inner contour and the outer contour" may include:
determining a central line based on a central point corresponding to the area to be planned under the condition that the inner contour and the outer contour are communicated curves;
two section lines of the center line on the inner contour and the outer contour are determined as two dividing lines.
Optionally, in another possible design, the "determining N dividing lines in the region 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 is a communicated curve and the outer contour is a communicated broken line, or the inner contour is a communicated broken line and the outer contour is a communicated curve, connecting the central point corresponding to the region to be planned with N broken points of the communicated broken line respectively to obtain N connecting lines, and determining N transversal lines of the N connecting lines on the inner contour and the outer contour as N dividing lines.
Optionally, in another possible design manner, the "determining M planned lines of the to-be-planned partition based on M first planned points on the first boundary line and M second planned points on the second boundary line of the to-be-planned partition" may include:
determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction and K second sampling points on a fourth boundary line of the partition to be planned based on preset printing precision; the third boundary line is a subsection of the inner contour, and the fourth boundary line is a subsection of the outer contour; k is a positive integer greater than 0;
connecting the first sampling point and the second sampling point pairwise based on the first preset sampling point direction to obtain K finger lines;
respectively determining M third planning points on each guide line along a second preset collecting point direction based on preset printing precision, determining M first planning points on a first boundary line, and determining M second planning points on a 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 a second preset sampling point direction;
and respectively fitting the points in each point set based on a Bezier curve algorithm to obtain M gauge lineation.
Optionally, in another possible design manner, distances of adjacent sampling points in the K first sampling points are all equal, and distances of 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.
Optionally, in another possible design manner, after obtaining M printing paths, the method for planning a printing 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 print path planning apparatus, including: the device comprises an acquisition module, a determination module and a splicing module;
the acquisition module is used for acquiring 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 is used for determining N dividing lines in the region to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the region to be planned into N regions to be planned based on the N dividing lines; the first end point of the dividing line is on the inner contour, and the second end point of the dividing line is on the outer contour; n is a positive integer greater than 1;
the determining module is further used for determining M marking lines of the partitions to be planned based on M first marking points on a first boundary line and M second marking points on a second boundary line of the partitions to be planned 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 gauge marking lines of each partition to be planned by taking the first planning point and the second planning point as path splicing points in the partition to be planned to obtain M printing paths.
Alternatively, in one possible design, the geometric distribution parameters may include geometric shape and number of contour edges.
Optionally, in another possible design manner, the determining module is specifically configured to:
determining a central line based on a central point corresponding to the area to be planned under the condition that the inner contour and the outer contour are communicated curves;
two section lines of the center line on the inner contour and the outer contour are determined as two dividing lines.
Optionally, in another possible design manner, the determining module is specifically configured to:
under the condition that the inner contour is a communicated curve and the outer contour is a communicated broken line, or the inner contour is a communicated broken line and the outer contour is a communicated curve, connecting the central point corresponding to the region to be planned with N broken points of the communicated broken line respectively to obtain N connecting lines, and determining N transversal lines of the N connecting lines on the inner contour and the outer contour as N dividing lines.
Optionally, in another possible design manner, the determining module is specifically configured to:
determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction and K second sampling points on a fourth boundary line of the partition to be planned based on preset printing precision; the third boundary line is a subsection of the inner contour, and the fourth boundary line is a subsection of the outer contour; k is a positive integer greater than 0;
connecting the first sampling point and the second sampling point pairwise based on the first preset sampling point direction to obtain K finger lines;
respectively determining M third planning points on each guide line along a second preset collecting point direction based on preset printing precision, determining M first planning points on a first boundary line, and determining M second planning points on a 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 a second preset sampling point direction;
and respectively fitting the points concentrated in each point based on a Bezier curve algorithm to obtain M gauge rulings.
Optionally, in another possible design manner, distances of adjacent sampling points in the K first sampling points are all equal, and distances of 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.
Optionally, in another possible design, the device for planning a printing path provided by the present 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 M printing paths are obtained by the splicing module.
In a third aspect, the present application provides a print path planning apparatus, including 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 print path planning apparatus is operating, the processor executes computer-executable instructions stored in the memory to cause the print path planning apparatus to perform the print path planning method provided by the first aspect described above.
Optionally, the printing path planning apparatus may be a printing apparatus for implementing 3D printing, or may be a chip system in the printing apparatus, or may also be a physical machine for implementing printing path planning, or may also be a part of a device in the physical machine, for example, may be a chip system in the physical machine. The system-on-chip is configured to support a print path planning apparatus to implement the functions referred to in the first aspect, for example, to receive, transmit or process data and/or information referred to in the print path planning method. 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 for 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 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 printing the path, or may be packaged separately from the processor of the planning apparatus for printing the path, which is not limited in this application.
For the descriptions of the second, third, fourth and fifth aspects in this application, reference may be made to the detailed description of the first aspect; in addition, for the beneficial effects described in the second aspect, the third aspect, the fourth aspect and the fifth aspect, reference may be made to beneficial effect analysis of the first aspect, and details are not repeated here.
In the present application, the names of the above-mentioned devices or functional modules are not limited, and in actual implementation, the devices or functional modules may be represented by other names. Insofar as the functions of the respective devices or functional modules are similar to those of the present application, they are within the scope of the claims of the present application and their equivalents.
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 printing path obtained based on an equidistant offset path planning method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for planning a printing path according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an area to be planned according to an embodiment of the present disclosure;
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 another area to be planned according to an embodiment of the present application;
fig. 6 is a schematic diagram of another area to be planned according to an embodiment of the present application;
fig. 7 is a schematic diagram of another area to be planned according to an embodiment of the present application;
fig. 8 is a schematic flowchart of determining M ruled 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 by an embodiment of the present application;
fig. 10 is a schematic structural diagram of a print path planning apparatus according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of a printing path planning apparatus according to an embodiment of the present application.
Detailed Description
The following describes a method, an apparatus, a device, and a storage medium for planning a print path according to an embodiment of the present application in detail with reference to the drawings.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The terms "first" and "second" and the like in the description and drawings of the present application are used for distinguishing different objects or for distinguishing different processes for the same object, and are not used for describing a specific order of the objects.
Furthermore, the terms "including" and "having," and any variations thereof, as referred to in the description of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively 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 "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the description of the present application, the meaning of "a plurality" means two or more unless otherwise specified.
In 3D printing of continuous fiber reinforced resin based composites, a print path may be planned first, and then fiber filling may be performed based on the planned print path. At present, an equidistant offset path planning method is often adopted to plan a printing path.
Referring to fig. 1, a path diagram of a printing path obtained based on an equidistant offset path planning method 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 printing path. It can be seen that there are many small angled corners in the print path of figure 1 which can cause large angular adjustments in the print direction during printing, resulting in breaks in the fibre bundle and also in severe fibre print back.
In view of the problems in the prior art, an embodiment of the present application provides a method for planning a print path, in which a region to be planned is divided to obtain N partitions to be planned, then a marking line is determined in each partition to be planned, and then the marking lines of each partition to be planned are spliced to obtain the print path, so that a small-angle corner in the planned print path can be avoided, and thus, the problems of breakage in a fiber bundle and serious fiber print rollback caused by the small-angle corner can be avoided.
The method for planning the printing path provided by the embodiment of the application can be applied to a planning device of the printing path, and the planning device of the printing path can be a printing device for realizing 3D printing and can also be a chip system in the printing device. Or, the planning device of the printing path may also be a physical machine for implementing the printing path planning, and may also be a chip system in the physical machine. For example, the server may be used to implement print path planning.
The following describes a method for planning a print path according to the present application with reference to the drawings.
Referring to fig. 2, the method for planning a print path according to the embodiment of the present application includes steps 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 is not communicated with the outer contour. Illustratively, referring to fig. 3, a schematic diagram of an area to be planned is provided. As shown in fig. 3, the shaded area formed by the outer part of the inner contour and the inner part of the outer 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 component, a three-dimensional model of the target forming component is established by adopting three-dimensional reconstruction software, and then the lamina and contour information of the three-dimensional model can be obtained after the processing of layered slicing software; the area to be planned may then be determined based on the slice and contour information of the three-dimensional model. It can be understood that the method for obtaining the area to be planned in the embodiment of the present application is only an example, and in practical applications, the area to be planned may also be obtained based on other manners, which is not limited in the embodiment of the present application.
S202, determining N dividing lines in the region to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the region to be planned into N partitions to be planned based on the N dividing lines.
Wherein the first end point of the dividing line is on the inner contour and the second end point of the dividing line is on the outer contour; n is a positive integer greater than 1. The first end point and the second end point are also the two end points of the dividing line.
Alternatively, the geometric distribution parameters may include geometric shape and contour edge number.
In the embodiment of the present application, in order to facilitate dividing the region to be planned into the to-be-planned partition without the hollow region, the number and the position of the dividing lines may be determined based on the geometric shapes and the number of contour sides of the inner contour and the outer contour. Specifically, when both the inner contour and the outer contour are connected curves, N may be 2. When the inner contour is a connected curve and the outer contour is a connected broken line, N may be the number of sides of the outer contour, that is, the number of break points of the connected broken line. When the outer contour is a connected curve and the inner contour is a connected broken line, N may be the number of sides of the inner contour, that is, the number of break points of the connected broken line.
Optionally, under the condition that the inner contour and the outer contour are both connected curves, the center line can be determined based on the center point corresponding to the region to be planned; then, two section lines of the center line on the inner contour and the outer contour are determined as two dividing lines.
For example, the central point corresponding to the area to be planned may be a geometric center (e.g., a center of gravity) of the area to be planned. If the area to be planned is a symmetric area, the central line can be a symmetric axis of the area to be planned; if the area to be planned is not a symmetric area, the center line can be any line segment respectively intersected with the inner contour and the outer contour through the center point. Or, in practical application, the central 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 this application.
Referring to fig. 4, a schematic diagram of a possible area to be planned is provided. As shown in fig. 4, the inner contour and the outer contour of the region to be planned are both connected curves, and the central point corresponding to the region to be planned is the point O, so that the central line p corresponding to the region to be planned can be obtained according to the point O. The two sectional lines of the center line p on the inner contour and the outer contour are the line segment A1a2 and the line segment A3a4, respectively, then the line segment A1a2 and the line segment A3a4 can be determined as two dividing lines of the region to be planned. Based on the segment A1a2 and the segment A3a4, the area to be planned is divided into 2 partitions to be planned, that is, the partition a to be planned and the partition B to be planned in fig. 4.
Optionally, when the inner contour is a connected curve and the outer contour is a connected broken line, or the inner contour is a connected broken line and the outer contour is a connected curve, in the embodiment of the present application, the central point corresponding to the area to be planned may be connected to N broken points of the connected broken line, respectively, to obtain N connection lines, and N transversal lines of the N connection lines on the inner contour and the outer contour are determined as N dividing lines.
Referring to fig. 5, a schematic illustration 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 broken points of the connected broken line is 4), and the central point corresponding to the area to be planned is the point O. Connecting the point O with a break point A1, a break point A2, a break point A3, and a break point A4 respectively, 4 connecting lines p1, p2, p3, and p4 can be obtained, 4 sectional lines of the connecting lines p1, p2, p3, and p4 on the inner contour and the outer contour are line segments A1B1, A2B2, A3B3, and A4B4 respectively, and then the line segments A1B1, A2B2, A3B3, and A4B4 can be determined as 4 dividing lines of the region to be planned. Based on the 4 dividing lines, the area to be planned can be divided into 4 partitions to be planned, that is, the partition a to be planned, the partition B to be planned, the partition C to be planned, and the partition D to be planned 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 broken points of the connected broken line is 4), and the central point corresponding to the area to be planned is the point O. Similarly, if the O point is connected to the break point A1, the break point A2, the break point A3, and the break point A4 and the connecting line is extended to obtain 4 connecting lines p1, p2, p3, and p4, then the 4 sectional lines A1B1, A2B2, A3B3, and A4B4 of the connecting lines p1, p2, p3, and p4 on the inner contour and the outer contour can be determined as 4 dividing lines. The area to be planned is divided based on the 4 dividing lines, and the area to be planned can be 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, by way of example, in the embodiment of the present application, N is taken as 4, and in practical applications, N may be any positive integer greater than 1, for example, N may be 2, 3, 5, and 6, and the like, which is not limited in the 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 commonly used target forming component is described, and in practical applications, for the area to be planned of other target forming components (for example, the area to be planned in fig. 7), the path planning method for the print path provided in the embodiment of the present application may also be adopted to perform path planning, which is not limited in the 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 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 embodiment of the application, in order to avoid a small-angle corner in a printed path, a region to be planned can be divided into N partitions to be planned, and then path planning is performed in each partition to be planned, so as to obtain a planning line in each partition to be planned.
Optionally, in order to obtain a more reasonable marking line in each partition to be planned, so as to obtain a more reasonable printing path, in the embodiment of the present application, the M marking lines of the partition to be planned may be determined in the following manner: determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction and K second sampling points on a fourth boundary line of the partition to be planned based on preset printing precision; the third boundary line is a subsection of the inner contour, and the fourth boundary line is a subsection of the outer contour; k is a positive integer greater than 0; connecting the first sampling point and the second sampling point pairwise based on the first preset sampling point direction to obtain K finger lines; respectively determining M third planning points on each guide line along a second preset collecting point direction based on preset printing precision, determining M first planning points on a first boundary line, and determining M second planning points on a 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 a second preset sampling point direction; and respectively fitting the points concentrated in each point based on a Bezier curve algorithm to obtain M gauge rulings.
The preset printing precision can be artificially and previously determined filling density, and the preset printing precision of different components can be different, which is not limited in the embodiment of the application.
The first preset sampling point direction may be a direction determined in advance by a human, for example, may be a clockwise or counterclockwise direction along the inner contour. The second preset sampling point direction may be a direction determined in advance by a human, for example, a direction pointing from the inner contour to the outer contour.
Illustratively, referring to fig. 8, a flow diagram for determining M ruled lines for a partition to be planned is provided. As shown in fig. 8 (a), a schematic diagram of a possible partition to be planned is provided, and the partition to be planned may be a partition of the area to be planned shown in fig. 5 to obtain any partition to be planned, which is surrounded by a first boundary line (a partition line), a second boundary line (a partition line), a third boundary line (a segment of an inner contour), and a fourth boundary line (a segment of an outer contour). If it is determined that K is 7 based on the preset printing accuracy, as shown in fig. 8 (b), 7 first sample points, 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 sample points, X21, X22, X23, X24, X25, X26, and X27, may be sequentially determined on the fourth boundary line. Then, 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, and X22 may be found on the fourth boundary line along the first preset sampling point direction, then X12 and X22 may be connected, similarly, X13 and X23 are connected, X14 and X24 are connected, X15 and X25 are connected, X16 and X26 are connected, and X17 and X27 are connected, so that 7 finger lines including the first boundary line and the second boundary line are obtained, that is, q1, q2, q3, q4, q5, q6 and q7 in fig. 8 (c). If it is determined that M is 7 based on the preset printing accuracy, 7 planned dots may be determined on q1, q2, q3, q4, q5, q6, and q7, respectively, in the second preset dot direction. Then, a first point of q1, q2, q3, q4, q5, q6, and q7 in a second preset sampling point direction may be determined as a first point set, and a second point may be determined as a second point set, and similarly, all the planning points may be divided into 7 different point sets based on the second preset sampling point direction. As shown in fig. 8 (d), points in each set of points may be fitted based on the bezier curve algorithm to obtain 7 ruled lines including the third boundary line and the fourth boundary line.
Optionally, in the embodiment of the present application, distances of adjacent sampling points in the K first sampling points are all equal, and distances of 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 all equal, and the distances between adjacent planning points in the M second planning points are all equal. Therefore, the distribution of the planned printing paths is relatively uniform, and the printing effect is better.
And S204, splicing the M marking lines of each partition to be planned by taking the first planning point and the second planning point as path splicing points in the partition to be planned to obtain M printing paths.
After the planning line of each partition to be planned is determined, the planning lines of the partitions to be planned can be spliced to obtain a printing path. For example, after the planned line of each partition to be planned in fig. 5 is obtained according to the method for determining the planned line 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 to splice the 7 planned lines of each partition to be planned, so as to obtain 7 printed paths (other line segments except the dividing line in fig. 9). It can be seen that there is no small-angle corner in the print path in fig. 9, so that the method for planning a print path provided in the embodiment of the present application can avoid the occurrence of a small-angle corner.
Optionally, after obtaining M printing paths, 3D printing may be performed on the continuous fiber reinforced resin matrix composite material based on the printing paths. Because the small-angle corner can be avoided in the planned printing path, the problems of breakage in a 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.
In the method for planning the printing path 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 appear on the printing path obtained based on the existing equidistant offset path planning method. In order to avoid a small-angle corner in a printing path, after an area to be planned is obtained, the area to be planned can be divided into N partitions to be planned based on N dividing lines in the embodiment of the application, then M marking lines are respectively determined in the partitions to be planned, and then the M marking lines of the partitions 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 to-be-planned partitions (namely the to-be-planned partitions are formed by surrounding of a communicated contour), and therefore the small-angle turning angle can be avoided from occurring in the M gauge marks determined by each to-be-planned partition. Therefore, in the M printing paths obtained by splicing the M gauge marks of each partition to be planned, the small-angle corner can be avoided. It can be seen that the printing path is obtained by dividing the area to be planned and then splicing the planning lines of the partitions to be planned, so that the small-angle corner in the planned printing path can be avoided, and 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, an 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.
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, the obtaining module 11 is configured to obtain 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 region to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and divide the region to be planned into N regions to be planned based on the N dividing lines; the first end point of the dividing line is on the inner contour, and the second end point of the dividing 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 ruled lines of the partition to be planned based on M first ruled points on a first boundary line of the partition to be planned and M second ruled 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 configured to splice the M gauge lines of each to-be-planned partition in the to-be-planned area by using the first planned point and the second planned point as path splicing points to obtain M printing paths.
Alternatively, in one possible design, the geometric distribution parameters may include geometric shape and contour edge number.
Optionally, in another possible design, the determining module 12 is specifically configured to:
determining a central line based on a central point corresponding to the area to be planned under the condition that the inner contour and the outer contour are communicated curves;
two section lines of the center line on the inner contour and the outer contour are determined as two dividing lines.
Optionally, in another possible design, the determining module 12 is specifically configured to:
under the condition that the inner contour is a communicated curve and the outer contour is a communicated broken line, or the inner contour is a communicated broken line and the outer contour is a communicated curve, connecting the central point corresponding to the region to be planned with N broken points of the communicated broken line respectively to obtain N connecting lines, and determining N transversal lines of the N connecting lines on the inner contour and the outer contour as N dividing lines.
Optionally, in another possible design, the determining module 12 is specifically configured to:
determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction and K second sampling points on a fourth boundary line of the partition to be planned based on preset printing precision; the third boundary line is a subsection of the inner contour, and the fourth boundary line is a subsection of the outer contour; k is a positive integer greater than 0;
connecting the first sampling point and the second sampling point pairwise based on the first preset sampling point direction to obtain K finger lines;
respectively determining M third planning points on each guide line along a second preset collecting point direction based on preset printing precision, determining M first planning points on a first boundary line, and determining M second planning points on a 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 a second preset sampling point direction;
and respectively fitting the points concentrated in each point based on a Bezier curve algorithm to obtain M gauge rulings.
Optionally, in another possible design manner, distances of adjacent sampling points in the K first sampling points are all equal, and distances of 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.
Optionally, in another possible design, the device for planning a printing path provided by the present 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 M printing paths are obtained by the splicing module 13.
Optionally, the device for planning a printing path may further include a storage module, where the storage module is configured to store a program code of the device for planning a printing path, and the like.
As shown in fig. 11, the embodiment of the present application further provides a print path planning apparatus, which includes a memory 41, processors 42(42-1 and 42-2), a bus 43, and a communication interface 44; the memory 41 is used for storing computer execution instructions, and the processor 42 is connected with the memory 41 through a bus 43; when the print path planning apparatus is operating, the processor 42 executes computer-executable instructions stored in the memory 41 to cause the print path planning apparatus to perform the print path planning method provided in the above-described embodiment.
In particular implementations, processor 42 may include one or more Central Processing Units (CPUs), such as CPU0 and CPU1 shown in FIG. 11, as one embodiment. And as an 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 the processors 42 may be a single-Core Processor (CPU) or a multi-Core Processor (CPU). Processor 42 may refer herein to one or more devices, circuits, and/or processing cores that process 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 (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) 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 self-contained and coupled to the processor 42 via a bus 43. The memory 41 may also be integrated with the processor 42.
In a specific implementation, the memory 41 is used for storing data in the present application and computer-executable instructions corresponding to a software program for executing the present application. Processor 42 may print various functions of the path planning apparatus by running or executing software programs stored in memory 41, as well as invoking data stored in memory 41.
The communication interface 44 may be any device, such as a transceiver, for communicating with other devices or communication networks, such as a control system, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), etc. The communication interface 44 may include a receiving unit implementing a receiving function and a transmitting unit implementing a transmitting function.
The bus 43 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an extended ISA (enhanced industry standard architecture) bus, or the like. The bus 43 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 11, but this is not intended to represent only one bus or type of bus.
As an example, in conjunction with fig. 10, the acquiring module in the planning apparatus for a print path implements the same function as the receiving unit in fig. 11, and the determining module in the planning apparatus for a print path implements the same function as the processor in fig. 11. When the print path planning apparatus includes the storage module, the function realized by the storage module is the same as the function realized by the memory in fig. 11.
For the explanation of the related contents in this embodiment, reference may be made to the above method embodiments, which are not described herein again.
Through the description of the above embodiments, it is clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. For the specific working processes of the above-described system, device and unit, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
The embodiment of the present application further provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are executed by a computer, the computer is enabled to execute the method for planning a print path provided in the foregoing 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 any combination thereof. 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 (EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, 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. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). In embodiments 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 above description is only an embodiment of the present application, but the 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 by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for planning a print path, comprising:
acquiring 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;
determining N dividing lines in the region to be planned based on the geometric distribution parameters of the inner contour and the outer contour, and dividing the region to be planned into N partitions to be planned based on the N dividing lines; a first end point of the dividing line is on the inner contour and a second end point of the dividing 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 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 splicing the M marking lines of each partition to be planned by taking the first planning point and the second planning point as path splicing points in the area to be planned to obtain M printing paths.
2. The method of claim 1, wherein the geometric distribution parameters include geometry and number of contour edges.
3. The method for planning a printing 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 comprises:
determining a central line based on a central point corresponding to the area to be planned under the condition that the inner contour and the outer contour are both connected curves;
two sectional lines of the center line on the inner contour and the outer contour are determined as two dividing lines.
4. The method for planning a printing 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 comprises:
and respectively connecting the central points corresponding to the area to be planned with N folding points of the communication folding line to obtain N connecting lines under the condition that the inner contour is a communication curve and the outer contour is a communication folding line or the inner contour is a communication folding line and the outer contour is a communication curve, and determining N transversal lines of the N connecting lines on the inner contour and the outer contour as the N dividing lines.
5. The method for planning a printing path according to claim 1, wherein the determining M planning lines of the partition to be planned based on M first planning points on a first boundary line and M second planning points on a second boundary line of the partition to be planned comprises:
determining K first sampling points on a third boundary line of the partition to be planned along a first preset sampling point direction and K second sampling points on a fourth boundary line of the partition to be planned based on preset printing precision; said third boundary line is a segment of said inner contour and said fourth boundary line is a segment of said outer contour; k is a positive integer greater than 0;
connecting the first sampling point and the second sampling point pairwise based on the first preset sampling point direction to obtain K finger lines;
respectively determining M third planning points on each guide line along a second preset collecting point direction based on the preset printing precision, 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 sampling point direction;
and respectively fitting the points in each point set based on a Bezier curve algorithm to obtain the M gauge rulings.
6. The method for planning a print path according to claim 5, wherein distances of adjacent sampling points of the K first sampling points are all equal, and distances of adjacent sampling points of 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.
7. The method for planning a printing path according to any one of claims 1-6, wherein after obtaining M printing paths, the method further comprises:
and 3D printing is carried out on the continuous fiber reinforced resin matrix composite material based on the printing path.
8. A print path planning apparatus, comprising:
the acquisition module is used for acquiring 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 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 partitions to be planned based on the N dividing lines; a first end of the dividing line is on the inner contour and a second end of the dividing 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 planned lines of the partition to be planned based on M first planned points on a first boundary line and M second planned 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 is used for splicing the M marking lines of each partition to be planned by taking the first planning point and the second planning point as path splicing points in the partition to be planned to obtain M printing paths.
9. A printing path planning device is characterized by 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 planning device for the printing path is operated, the processor executes the computer-executable instructions stored in the memory to cause the planning device for the printing path to execute the planning method for the printing path according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored therein instructions, which when executed by a computer, cause the computer to execute the method of planning a print path according to any one of claims 1 to 7.
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