CN115106542B - Efficient and precise electronic direct-writing three-dimensional printing path planning method - Google Patents
Efficient and precise electronic direct-writing three-dimensional printing path planning method Download PDFInfo
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- CN115106542B CN115106542B CN202211036518.1A CN202211036518A CN115106542B CN 115106542 B CN115106542 B CN 115106542B CN 202211036518 A CN202211036518 A CN 202211036518A CN 115106542 B CN115106542 B CN 115106542B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/80—Data acquisition or data processing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/10—Formation of a green body
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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
Abstract
The invention relates to the technical field of additive processing, in particular to a high-efficiency precise electronic direct-writing three-dimensional printing path planning method, which comprises the following steps: step one, surface height scanning: scanning the height of the surface to be processed to obtain surface height distribution data; step two, generating a two-dimensional printing path: generating a two-dimensional printing path according to a graph to be processed, and aligning the two-dimensional printing path with surface height distribution data; step three, generating a three-dimensional printing path: and obtaining the surface height of each path point in the two-dimensional printing path, generating a Z-axis height path, enabling the needle face distance not to exceed a preset interval, and superposing the Z-axis height path on the two-dimensional printing path to form a three-dimensional printing path. The beneficial technical effects of the invention comprise: the three-dimensional path planning method disclosed by the invention can keep the needle pitch in the printing process within the range of the set target constant height interval, improve the precision of the needle pitch and improve the printing quality.
Description
Technical Field
The invention relates to the technical field of additive processing, in particular to a high-efficiency precise electronic direct-writing three-dimensional printing path planning method.
Background
The direct-write printing technology has attracted much attention in the field of additive manufacturing in the years, and especially the application of electronic direct-write printing in the fields of OLED display and PCB packaging has great potential. The electronic direct-write printing technology is to directly extrude metal printing ink through a small nozzle or a direct-write needle head at ambient temperature, so as to realize additive manufacturing on different printing substrates. The key factor of the quality of the printed line segment depends on whether the planned printing path can ensure that the height of the direct writing needle head in the vertical direction changes along with the local fluctuation of the substrate, so that the distance between the needle head and the surface, namely the needle surface distance, is always stably maintained at a constant height. If the printing path planning precision is not enough, the printing can not be finished, and even the problems of damaging the nozzle or damaging the workpiece and the like can be caused.
A common path planning method scans the surface of a printed substrate by using a three-dimensional scanner to obtain flatness data of the surface of the printed substrate, thereby completing path planning. Rather than focusing on capturing the roughness of the surface. The accuracy cannot support printing of line segments with a target pitch of less than 10 microns. The generated printing track is also a two-dimensional printing path, and the needle pitch is not restricted. Therefore, it is necessary to develop a new three-dimensional printing path planning technique.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the technical problem of low printing precision caused by lack of needle pitch planning in the conventional direct-writing printing path planning is solved. The efficient and precise electronic direct-writing three-dimensional printing path planning method is provided, three-dimensional path planning can be achieved, and the direct-writing printing precision is improved.
The technical scheme adopted by the invention is as follows: an efficient and precise electronic direct-writing three-dimensional printing path planning method comprises the following steps:
step one, surface height scanning: scanning the height of the surface to be processed to obtain surface height distribution data;
step two, generating a two-dimensional printing path: generating a two-dimensional printing path according to a graph to be processed, and aligning the two-dimensional printing path with surface height distribution data;
step three, generating a three-dimensional printing path: and obtaining the surface height of each path point in the two-dimensional printing path, generating a Z-axis height path, enabling the needle face distance not to exceed a preset interval, and superposing the Z-axis height path on the two-dimensional printing path to form a three-dimensional printing path.
Preferably, in the first step, the method for scanning the surface height includes:
estimating the scanning time T1 of the surface to be processed, wherein T1=2 (X + 1) W/s 1) + (L/s 1), wherein L and W are respectively the length and width of the surface to be processed, X is the number of sampling points of an X axis of the surface to be processed, s1 is the surface scanning speed, and the X axis is the width direction of the surface to be processed;
predicting the time T2 required by track scanning, wherein T2= E/s2, E is the length of a processing track, and s2 is the track scanning speed;
and if T1 is less than or equal to T2, finishing surface height scanning by adopting a scanning mode of a surface to be processed, and if T1 is greater than T2, finishing surface height scanning by adopting a track scanning mode.
Preferably, the method for scanning the surface to be processed comprises the following steps:
moving the distance measuring sensor to the starting point of the surface to be processed;
calculating coordinates of all points to be acquired according to the surface scanning parameter setting, and generating a surface scanning track;
sequentially carrying out reciprocating scanning on the acquisition points in each length direction by using a distance measuring sensor, and acquiring readings of the distance measuring sensor by using a position triggering mechanism;
calculating the average value of the readings of the ranging sensor when each acquisition point reciprocates twice, taking the average value as the height value of the acquisition point, and removing the special value;
and obtaining height values among the acquisition points through interpolation to finish the acquisition of surface height distribution data.
Preferably, the method for removing the singular value includes:
selecting an acquisition point closest to the initial point as an initial point, and carrying out breadth search to the periphery to find a special value, wherein the special value refers to an acquisition value of an acquisition point of which the difference value with the nearest acquisition point which is not marked as the special value exceeds a preset amplitude limiting parameter alpha;
if the value p '-alpha is larger than the preset threshold value T, judging that the substrate is blocked, the path planning cannot be carried out, stopping the path planning and sending an alarm, wherein p' is a special value;
adding weight w to all the special values, wherein w = 1/(1 + (lambda | p' -alpha |), and lambda is a preset smoothing coefficient;
and processing all the scanning data by using a weighted average filtering method to obtain a height value after the special value is removed.
Preferably, the method of obtaining the height value between the acquisition points by interpolation includes:
representing the height obtained by scanning in a two-dimensional array, i.e. using p _i_j Denotes a width-direction coordinate x _i Length direction coordinate of y _j The height value of the sampling point of (c), i ∈ [1, N ]]，j∈[1,M]；
Calculating the derivative V of each sample point ij =(p _i+1_j -p _i_j )/(x _i+1 -x _i )，U ij =(p _i_j+1 -p _i_j )/(y _j+1 -y _j ) Let the last sampling point V in the width direction N =0, last sampling point in height direction U M =0；
The derivative of the height value of the points beyond the area of the sampling points is set as the derivative of the closest sampling point;
establishing cubic curve between every two adjacent sampling points along the width direction, so that the height values and derivatives of the cubic curve at the two end points are respectively equal to the height p of the two sampling points _i_j、 Height p _i+1_j Derivative V ij And derivative V i+1_j Equal;
establishing a cubic curve between every two adjacent sampling points along the height direction, so that the height values and derivatives of the cubic curve at the two end points are respectively connected with the heights p of the two sampling points _i_j、 Height p _i_j+1 Derivative U ij And derivative U i_j+1 Are equal.
Preferably, in the first step, the roughness of the surface to be processed is input, the X value of the number of X-axis sampling points of the surface to be processed is determined according to the roughness, the initial value of X is specified for the standard roughness, if the roughness of the surface to be processed is higher than the standard roughness, the X value of the number of X-axis sampling points of the surface to be processed is larger than the initial value of X, and if the roughness of the surface to be processed is lower than the standard roughness, the X value of the number of X-axis sampling points of the surface to be processed is smaller than the initial value of X.
Preferably, the method for determining the X value of the number of the X-axis sampling points of the surface to be processed according to the roughness comprises the following steps: the sampling point number x = max (x 0, x0+ k (Ra-Ra 0)), wherein Ra is the roughness of the surface to be processed, ra0 is the preset reference roughness, k is the preset coefficient, x0 is the preset initial sampling point number, and max () represents a maximum function.
Preferably, the interpolation algorithm used to obtain the height values between the acquisition points is linear interpolation, quadratic interpolation, cubic sample interpolation, or piecewise cubic hermite interpolation.
Preferably, the method of trajectory scanning includes:
moving the distance measuring sensor to the starting point of the processing track;
generating a two-dimensional printing path according to a graph to be processed;
scanning along a two-dimensional printing path of a processing track by using a distance measuring sensor, periodically collecting readings of the distance measuring sensor and associating a timestamp, and recording the position of the collected readings of the distance measuring sensor as a collecting point;
removing special values from the collected readings of the ranging sensor;
and obtaining height values between the acquisition points through interpolation to finish the acquisition of surface height distribution data.
Preferably, the method for calculating the length E of the machining trajectory includes:
and (3) recording the set of all the graphs G _ i to be processed as G, calculating the movement distance d _ i required for completing the movement from the end point of the current graph to be processed to the starting point of the next graph G _ i +1 to be processed, wherein the path length required by the graph G _ i to be processed is L (G _ i), and then the processing track length E = Σ d _ i + L (G _ i).
Preferably, in the calculation process of the processing track length E, after the current processing graph is completed, the graph to be processed, of which the starting point is closest to the end point of the current processing graph, is searched for and used as the next graph to be processed.
Preferably, the method for calculating the path length L (g _ i) required by the graph g _ i to be processed is as follows: and converting the line segments to be processed g _ i into broken lines with preset lengths, the lengths of all the broken lines and the path length L (g _ i) required by the graph g _ i to be processed.
The beneficial technical effects of the invention comprise: the three-dimensional path planning method disclosed by the invention can keep the needle pitch in the printing process within the range of the set target constant height interval, improve the precision of the needle pitch and improve the printing quality; the scanning scheme is preferentially selected in two scanning modes of distinguishing the scanning of the area to be processed and the track scanning, so that both precision and efficiency can be considered.
Other features and advantages of the present invention will be disclosed in more detail in the following detailed description of the invention and the accompanying drawings.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a schematic flow chart of a three-dimensional printing path planning method according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of a surface height scanning method according to an embodiment of the invention.
Fig. 3 is a schematic flow chart of a scanning method for a surface to be processed according to an embodiment of the present invention.
Fig. 4 is a flowchart illustrating a method for removing a singular value according to an embodiment of the present invention. FIG. 5 is a flowchart illustrating a method for obtaining height values between acquisition points by interpolation according to an embodiment of the present invention.
FIG. 6 is a schematic height diagram of the surface height data before processing according to the embodiment of the present invention.
FIG. 7 is a schematic height diagram of the surface height data after processing according to the embodiment of the present invention.
FIG. 8 is a height profile of a print path prior to the practice of the present invention.
Fig. 9 is a planned print path height curve according to an embodiment of the present invention.
Fig. 10 is a schematic view of scanning a surface to be processed according to an embodiment of the present invention.
Fig. 11 is a flowchart illustrating a track scanning method according to an embodiment of the invention. Wherein: 10. surface scanning track, 20, surface to be processed, 30, printing path height curve, 40 and special value.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all of them. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
In the following description, the appearances of the indicating orientation or positional relationship such as the terms "inner", "outer", "upper", "lower", "left", "right", etc. are only for convenience in describing the embodiments and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
An efficient and precise electronic direct-writing three-dimensional printing path planning method, referring to fig. 1, includes:
step one, surface height scanning: and judging whether the surface to be processed is scanned or not, if so, directly reading the surface height distribution data obtained by historical scanning, and if not, scanning the height of the surface to be processed 20 to obtain the surface height distribution data. The surface height distribution data relates the Z-axis height Z of the corresponding coordinate position with the two-dimensional coordinate point (x, y) of the surface to be processed to form an acquisition point on the surface to be processed expressed by three-dimensional coordinates (x, y, Z). The collection points are uniformly arrayed in the surface area to be processed on a two-dimensional plane. And if the two-dimensional coordinate point needing to be obtained is not an acquisition point, reading 4 acquisition points with the two-dimensional coordinate point closest to the acquisition point, and obtaining the Z-axis height of the two-dimensional coordinate point in an interpolation mode. The interpolation algorithm used for obtaining the height values between the acquisition points is linear interpolation, secondary interpolation, cubic sample interpolation or piecewise cubic Hermite interpolation.
Step two, generating a two-dimensional printing path: and generating a two-dimensional printing path according to the graph to be processed, and aligning the two-dimensional printing path with the surface height distribution data.
Step three, generating a three-dimensional printing path: and obtaining the surface height of each path point in the two-dimensional printing path, generating a Z-axis height path, enabling the needle face distance not to exceed a preset interval, and superposing the Z-axis height path on the two-dimensional printing path to form a three-dimensional printing path.
Referring to fig. 2, in the first step, the method for scanning the surface height includes:
step A1) predicting the time T1 required by scanning the surface 20 to be processed, wherein T1=2 (X + 1) (W/s 1) + (L/s 1), L and W are respectively the length and width of the surface 20 to be processed, X is the number of sampling points on the X axis of the surface 20 to be processed, s1 is the surface scanning speed, and the X axis is the width direction of the surface 20 to be processed;
step A2) estimating the time T2 required by track scanning, wherein T2= E/s2, E is the length of a processing track, and s2 is the track scanning speed;
and A3) if T1 is less than or equal to T2, finishing surface height scanning by adopting a scanning mode of the surface to be processed 20, and if T1 is more than T2, finishing surface height scanning by adopting a track scanning mode.
Referring to fig. 3, the method for scanning the surface 20 to be processed includes:
step B1), moving the distance measuring sensor to the starting point of the surface 20 to be processed;
step B2) calculating coordinates of all points to be acquired according to the surface scanning parameter setting, and generating a surface scanning track 10;
step B3) using a ranging sensor to perform reciprocating scanning on the acquisition points in each length direction in sequence, and simultaneously using a position trigger mechanism to acquire the reading of the ranging sensor;
step B4), calculating the average value of the readings of the ranging sensor when each acquisition point reciprocates twice, taking the average value as the height value of the acquisition point, and removing the special value;
and step B5) obtaining height values among the acquisition points through interpolation to finish the acquisition of surface height distribution data.
Referring to fig. 4, in step B4), the method for removing the singular value includes:
step B41) selecting an acquisition point closest to the initial point as an initial point, and performing breadth search to the periphery to find a special value, wherein the special value refers to an acquisition value of an acquisition point of which the difference value with the nearest acquisition point which is not marked as the special value exceeds a preset amplitude limiting parameter alpha;
step B42) if | p '-alpha | is larger than a preset threshold value T, judging that the substrate is blocked, the path planning cannot be carried out, stopping the path planning and sending an alarm, wherein p' is a special value;
step B43) adding weight w to all the special values, wherein w = 1/(1 + (lambda | p' -alpha |), and lambda is a preset smooth coefficient;
and B44) processing all the scanning data by using a weighted average filtering method to obtain a height value after the special value is removed.
Referring to fig. 7, in step B5), the method for obtaining height values between the acquisition points by interpolation includes:
step B51) representing the scan acquisition in a two-dimensional arrayHeight value of (i.e. using p) _i_j Denotes a width-direction coordinate x _i Length direction coordinate of y _j The height value of the sampling point of (c), i ∈ [1, N ]]，j∈[1,M]；
Step B52) calculating the derivative V of each sample point ij =(p _i+1_j -p _i_j )/(x _i+1 -x _i )，U ij =(p _i_j+1 -p _i_j )/(y _j+1 -y _j ) Let the last sampling point V in the width direction N =0, last sampling point U in the height direction M =0；
Step B53) the derivative of the height value of the point beyond the area of sampled points is set as the derivative of the closest sampled point;
step B54) establishing a cubic curve between every two adjacent sampling points along the width direction, so that the height values and derivatives of the cubic curve at the two end points are respectively matched with the height p at the two sampling points _i_j、 Height p _i+1_j Derivative V ij And derivative V i+1_j Equal;
step B55) establishing a cubic curve between every two adjacent sampling points along the height direction, so that the height values and derivatives of the cubic curve at the two end points are respectively matched with the height p at the two sampling points _i_j、 Height p _i_j+1 Derivative U ij And derivative U i_j+1 Are equal.
Referring to fig. 6, a schematic height diagram of the surface height data before processing according to the embodiment of the present invention is shown in fig. 7, which is obtained after the method for removing the specific value 40 according to the embodiment of the present invention. It can be seen that the surface height obtained by removing the special value 40 and interpolating provided by the embodiment is smoother and more suitable for the actual height of the surface to be processed.
Referring to fig. 8, when the embodiment is not implemented, the height in the path planning does not change with the undulation of the surface 20 to be processed, the printing lacks the adaptation of the height of the surface 20 to be processed, and the printing quality is poor. Referring to fig. 9, with the present embodiment, a printing path height curve 30 can be planned to follow the surface undulation of the surface 20 to be processed. Meanwhile, the printing path height curve 30 can avoid local large-scale depression of the surface to be processed 20. If the surface 20 to be processed has a local large-scale bulge, an alarm is given and the path planning is stopped.
In the first step, the roughness of the surface 20 to be processed is input, the X value of the number of the X-axis sampling points of the surface 20 to be processed is determined according to the roughness, the initial value of X is specified for the standard roughness, if the roughness of the surface 20 to be processed is higher than the standard roughness, the X value of the number of the X-axis sampling points of the surface 20 to be processed is larger than the initial value of X, and if the roughness of the surface 20 to be processed is lower than the standard roughness, the X value of the number of the X-axis sampling points of the surface 20 to be processed is smaller than the initial value of X.
Referring to fig. 10, in the surface area to be processed, a plurality of X-axis sampling points are arranged at equal intervals along the X-axis, the distance measuring sensor sequentially reaches each X-axis sampling point, and after reaching each X-axis sampling point, the distance measuring sensor traverses the surface area to be processed along the Y-axis to perform reciprocating motion once, and the detection value of the distance measuring sensor is periodically collected during the moving process along the Y-axis.
Referring to fig. 11, the track scanning method includes:
step C1), moving a distance measuring sensor to the initial point of a processing track;
step C2) generating a two-dimensional printing path according to the graph to be processed;
step C3) scanning the distance measuring sensor along the two-dimensional printing path of the processing track, periodically acquiring the reading of the distance measuring sensor and associating a timestamp, and recording the position of the acquired reading of the distance measuring sensor as an acquisition point;
step C4) removing the special value of the acquired reading of the distance measuring sensor;
and C5) obtaining height values among the acquisition points through interpolation to finish the acquisition of surface height distribution data. The method for removing the special value is to set a height difference threshold value, and when the difference value between the reading of the ranging sensor of one acquisition point and the reading of the ranging sensor of two adjacent acquisition points is greater than the height difference threshold value, the acquisition point is determined to be the special value. And calculating the average value of the readings of the ranging sensors of two adjacent acquisition points as a substitute value after the special value is removed.
For example, the pattern to be printed is a circle having a diameter of 100mm, the scanning speed s1=100mm/s for the processing area, the scanning speed s2=5mm/s for the processing track, and the printing substrate is made of glass.
In the step A1), the time required by two scanning modes is estimated. Calculating the time T1 required by scanning the surface 20 to be processed: the sampling interval x has a value of 1mm. The length L of the surface to be processed is =100mm, and the width W is =100mm; the number of X-axis sampling points is calculated to be X =100 according to the scanning interval. The time required is about T1=2 (x + 1) × (W/s 1) + (L/s 1) =203s
Then, calculating the time required by track scanning: and calculating to obtain the length of the processing track E =628.32 and the scanning speed S2, wherein T2= P/s2=126s. Comparing the two estimated scanning time lengths, the processing file is more suitable for using a track scanning method. The method for calculating the length E of the processing track comprises the following steps: and (3) recording the set of all the graphs G _ i to be processed as G, calculating the movement distance d _ i required by moving from the end point of the current graph to the starting point of the next graph G _ i +1 to be processed, wherein the path length required by the graph G _ i to be processed is L (G _ i), and then, the processing track length E = Σ d _ i + L (G _ i). And in the process of calculating the length E of the processing track, after the current processing graph is finished, searching the graph to be processed with the starting point closest to the end point of the current processing graph as the next graph to be processed. The method for calculating the path length L (g _ i) required by the graph g _ i to be processed comprises the following steps: and converting the line segments to be processed g _ i into broken lines with preset lengths, the lengths of all the broken lines and the path length L (g _ i) required by the graph g _ i to be processed.
The beneficial technical effects of the embodiment include: the three-dimensional path planning method disclosed by the invention can keep the needle pitch within the range of the set target constant height interval in the printing process, improve the precision of the needle pitch and improve the printing quality; the scanning scheme is preferentially selected from two scanning modes of scanning and track scanning of the area to be processed, so that both precision and efficiency can be considered.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the present invention may be practiced without limitation to such specific embodiments. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (7)
1. An efficient and precise electronic direct-writing three-dimensional printing path planning method is characterized by comprising the following steps:
step one, surface height scanning: scanning the height of the surface to be processed to obtain surface height distribution data;
step two, generating a two-dimensional printing path: generating a two-dimensional printing path according to a graph to be processed, and aligning the two-dimensional printing path with surface height distribution data;
step three, generating a three-dimensional printing path: obtaining the surface height of each path point in the two-dimensional printing path, generating a Z-axis height path, enabling the needle face distance not to exceed a preset interval, and superposing the Z-axis height path on the two-dimensional printing path to form a three-dimensional printing path;
in the first step, the method for scanning the surface height comprises the following steps:
estimating the scanning time T1 of the surface to be processed, wherein T1=2 (X + 1) (W/s 1) + (L/s 1), L and W are respectively the length and width of the surface to be processed, X is the number of sampling points of an X axis of the surface to be processed, s1 is the scanning speed of the surface, and the X axis is the width direction of the surface to be processed;
predicting the time T2 required by track scanning, wherein T2= E/s2, E is the length of a processing track, and s2 is the track scanning speed;
if T1 is less than or equal to T2, adopting a scanning mode of a surface to be processed to complete surface height scanning, and if T1 is greater than T2, adopting a track scanning mode to complete surface height scanning;
the method for scanning the surface to be processed comprises the following steps:
moving the distance measuring sensor to the starting point of the surface to be processed;
calculating coordinates of all points to be acquired according to the surface scanning parameter setting, and generating a surface scanning track;
using a ranging sensor to perform reciprocating scanning on the acquisition points in each length direction in sequence, and simultaneously using a position trigger mechanism to acquire the reading of the ranging sensor;
calculating the average value of the readings of the ranging sensor when each acquisition point reciprocates twice, taking the average value as the height value of the acquisition point, and removing the special value;
obtaining height values among the acquisition points through interpolation to finish the acquisition of surface height distribution data;
the method for removing the special value comprises the following steps:
selecting an acquisition point closest to the initial point as an initial point, and carrying out breadth search to the periphery to find a special value, wherein the special value refers to an acquisition value of an acquisition point of which the difference value with the nearest acquisition point which is not marked as the special value exceeds a preset amplitude limiting parameter alpha;
if the absolute value p '-alpha is larger than the preset threshold value T, judging that the substrate is blocked, the path planning cannot be carried out, stopping the path planning and sending an alarm, wherein p' is a special value;
adding weight w to all the special values, wherein w = 1/(1 + (lambda | p' -alpha |)), and lambda is a preset smoothing coefficient;
and processing all the scanning data by using a weighted average filtering method to obtain a height value after the special value is removed.
2. An efficient and precise electronic direct-writing three-dimensional printing path planning method according to claim 1,
the method for obtaining the height value between the acquisition points by interpolation comprises the following steps:
representing the height value obtained by scanning in a two-dimensional array, i.e. using p _i_j Denotes a width-direction coordinate x _i Length direction coordinate of y _j The height value of the sampling point of (c), i ∈ [1, N ]]，j∈[1,M]；
Calculating the derivative V of each sample point ij =(p _i+1_j -p _i_j )/(x _i+1 -x _i )，U ij =(p _i_j+1 -p _i_j )/(y _j+1 -y _j ) Let the last sampling point V in the width direction N =0, last sampling point in height direction U M =0；
The derivative of the height value of the points beyond the area of the sampling points is set as the derivative of the closest sampling point;
establishing cubic curve between every two adjacent sampling points along the width direction, and enabling the cubic curve to be at two end pointsRespectively with the height p at the two sampling points _i_j、 Height p _i+1_j Derivative V ij And derivative V i+1_j Equal;
establishing cubic curve between every two adjacent sampling points along the height direction, so that the height values and derivatives of the cubic curve at the two end points are respectively connected with the height p of the two sampling points _i_j、 Height p _i_j+1 Derivative U ij And derivative U i_j+1 And are equal.
3. An efficient and precise electronic direct-writing three-dimensional printing path planning method according to claim 1,
in the first step, the roughness of the surface to be processed is input, the X value of the number of X-axis sampling points of the surface to be processed is determined according to the roughness, the initial value of X is specified for the standard roughness, if the roughness of the surface to be processed is higher than the standard roughness, the X value of the number of X-axis sampling points of the surface to be processed is larger than the initial value of X, and if the roughness of the surface to be processed is lower than the standard roughness, the X value of the number of X-axis sampling points of the surface to be processed is smaller than the initial value of X.
4. An efficient and precise electronic direct-writing three-dimensional printing path planning method according to claim 3,
the method for determining the X value of the number of the X-axis sampling points of the surface to be processed according to the roughness comprises the following steps:
the number of sampling points x = max (x 0, x0+ k (Ra-Ra 0)), where Ra is the roughness of the surface to be processed, ra0 is a preset reference roughness, k is a preset coefficient, x0 is a preset number of initial sampling points, and max () represents a maximum function.
5. An efficient and precise electronic direct-writing three-dimensional printing path planning method according to claim 3,
the interpolation algorithm used for obtaining the height values between the acquisition points is linear interpolation, secondary interpolation, cubic sample interpolation or piecewise cubic Hermite interpolation.
6. An efficient and precise electronic direct-writing three-dimensional printing path planning method according to claim 1,
the track scanning method comprises the following steps:
moving the distance measuring sensor to the starting point of the processing track;
generating a two-dimensional printing path according to a graph to be processed;
scanning along a two-dimensional printing path of a processing track by using a distance measuring sensor, periodically collecting readings of the distance measuring sensor and associating a timestamp, and recording the position of the collected readings of the distance measuring sensor as a collecting point;
removing special values from the collected readings of the ranging sensor;
and obtaining height values between the acquisition points through interpolation to finish the acquisition of surface height distribution data.
7. An efficient and precise electronic direct-writing three-dimensional printing path planning method according to claim 6,
the method for calculating the length E of the processing track comprises the following steps:
recording the set of all the graphs G _ i to be processed as G, calculating the movement distance d _ i required by moving from the end point of the current graph to the starting point of the next graph G _ i +1 to be processed, wherein the path length required by the graph G _ i to be processed is L (G _ i), and then, the processing track length E = Σ d _ i + L (G _ i);
in the process of calculating the length E of the processing track, after the current processing graph is finished, searching a graph to be processed with a starting point closest to an end point of the current processing graph as a next graph to be processed;
the method for calculating the path length L (g _ i) required by the graph g _ i to be processed comprises the following steps: and converting the line segments to be processed g _ i into broken lines with preset lengths, the lengths of all the broken lines and the path length L (g _ i) required by the graph g _ i to be processed.
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