Model processing method, device, computer equipment and computer readable storage medium

Abstract

The embodiment of the present application provides a model processing method, device, computer equipment and computer-readable storage medium, including reading the initial normal vector and initial vertex coordinates of each triangular facet in the initial STL file corresponding to the target model; calculating the same type of triangular facets to form a triangular facet group; rotating the initial normal vector of each triangular facet to make all the initial normal vectors traverse the angle space formed by the processing plane, calculating the processing angle and initial rotation angle of the same triangular facet group and the processing plane for each rotation; obtaining the total area of ​​the triangular facet group corresponding to all the processing angles and the target rotation angle corresponding to the triangular facet group with the largest total area, calculating the first target rotation matrix and rotating the initial vertex coordinates, and inputting the obtained second target rotation matrix into the initial STL file to complete the processing of the target model. The present application realizes the fine processing of parts, reduces the appearance of step lines, and improves the detail accuracy and surface quality of parts.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a model processing method, device, computer equipment and computer-readable storage medium. Background Art

[0002] During the entire process of sintering parts using selective laser sintering technology, the parts are often divided into several layers for processing. When a certain plane of the part is not parallel to the processing plane of the processing platform, it is easy to cause the processed parts to show obvious step textures, affecting the surface quality of the part plane and the specified processing dimensional accuracy.

[0003] The conventional solution is to rotate the part data model in the machining platform coordinate system to make the machining plane of the machining platform parallel to one of the parts' surfaces, thereby reducing the step texture of the machined parts. However, when manually rotating the data model in the data processing software of the molding equipment, it is impossible to accurately obtain the angles and corresponding areas of all parts' surfaces with the machining platform, and it is impossible to obtain the optimized placement angle of the parts. The machining accuracy of the parts is low, and the step texture of the parts cannot be avoided or reduced during the machining process. Summary of the invention

[0004] In view of this, one of the purposes of the present application is to provide a model processing method, apparatus, computer device and computer-readable storage medium to at least solve some of the above-mentioned technical problems.

[0005] In a first aspect, an embodiment of the present application provides a model processing method, the model processing method comprising:

[0006] Obtain an initial STL file corresponding to the target model and read the initial normal vector and initial vertex coordinates of each triangular face in the initial STL file;

[0007] Calculate the triangles of the same type according to the initial normal vectors of each triangle to obtain at least one triangle group;

[0008] Rotate the initial normal vector of each triangular face according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, and calculate the processing angle and initial rotation angle between the same triangular face group rotated each time and the processing plane, wherein the processing plane is used to process the target model;

[0009] Obtain the total area of ​​the triangular face group corresponding to all processing angles that meet the preset angle range, and obtain the target rotation angle corresponding to the triangular face group with the largest total area;

[0010] The first target rotation matrix is ​​calculated according to the target rotation angle and the initial vertex coordinates are rotated according to the rotation matrix. The second target rotation matrix obtained after rotation is input into the initial STL file to obtain the target STL file, so as to complete the processing of the target model according to the target STL file.

[0011] In a possible implementation, the step of “obtaining the total area of ​​the triangular facet group corresponding to all processing angles that meet the preset angle range” includes:

[0012] Calculate the area of ​​each triangle according to the initial vertex coordinates of each triangle;

[0013] The triangular facets corresponding to all the processing angles belonging to the same triangular facet group and meeting the preset angle range are summed to obtain the total area of ​​the corresponding triangular facet group.

[0014] In a possible implementation, the preset angle range includes:

[0015] The processing angle is 0 degree and / or greater than or equal to 20 degrees.

[0016] In a possible implementation, the processing plane includes a horizontal axis and a vertical axis, and the step of “rotating the initial normal vectors of each triangular face according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane” includes:

[0017] Rotate the initial normal vector of each triangular facet around the first direction and the second direction according to the preset rotation matrix, and perform the rotation operation in sequence until the rotation angle around the first direction is greater than 180 degrees, wherein the difference between the rotation angles corresponding to every two pairs of adjacent rotation operations is the same;

[0018] If the rotation angle around the first direction is less than 180 degrees, the initial normal vector of each triangular facet is rotated around the second direction according to the preset rotation matrix until the rotation angle around the second direction is greater than 180 degrees, wherein the first direction is the direction of the horizontal axis and the second direction is the direction of the vertical axis, or the first direction is the direction of the vertical axis and the second direction is the direction of the horizontal axis.

[0019] In a possible implementation, the processing plane includes a horizontal axis and a vertical axis, and the preset rotation matrix includes a rotation matrix around the horizontal axis and a rotation matrix around the vertical axis, wherein:

[0020] The rotation matrix Rx around the horizontal axis is:

[0021]

[0022] The rotation matrix Ry around the longitudinal axis is:

[0023]

[0024] Among them, the θxs represents the angular step value of rotation around the horizontal axis, p is the number of step values ​​of rotation around the horizontal axis, θys represents the angular step value of rotation around the vertical axis, and q is the number of step values ​​of rotation around the vertical axis.

[0025] In a possible implementation, the step of “calculating triangular facets of the same type according to the initial normal vectors of each triangular facet to obtain at least one triangular facet group” includes:

[0026] The triangles whose initial normal vectors are equal and / or opposite in value are determined to be triangles of the same type.

[0027] In a possible implementation manner, before the step of “obtaining an initial STL file corresponding to the target model and reading the initial normal vectors and initial vertex coordinates of each triangular face in the initial STL file”, the method further includes:

[0028] Establish the relationship between the initial normal vector and initial vertex coordinates of each triangle;

[0029] The associated initial normal vectors and initial vertex coordinates are stored in the first preset matrix and the second preset matrix respectively.

[0030] In a second aspect, an embodiment of the present application provides a model processing device, the model processing device comprising:

[0031] A first acquisition module is used to acquire an initial STL file corresponding to the target model and read the initial normal vector and initial vertex coordinates of each triangular face in the initial STL file;

[0032] A first calculation module, used for calculating triangular facets of the same type according to the initial normal vectors of each triangular facet to obtain at least one triangular facet group;

[0033] A rotation module, used to rotate the initial normal vectors of each triangular facet according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, and calculate the processing angle and initial rotation angle between the same triangular facet group and the processing plane for each rotation, wherein the processing plane is used to process the target model;

[0034] A second acquisition module is used to acquire the total area of ​​the triangular face group corresponding to all processing angles that meet the preset angle range, and acquire the target rotation angle corresponding to the triangular face group with the largest total area;

[0035] The second calculation module is used to calculate the target rotation matrix according to the target rotation angle and rotate the initial vertex coordinates according to the rotation matrix, and input the target vertex coordinates obtained after rotation into the initial STL file to obtain the target STL file, so as to complete the processing of the target model according to the target STL file.

[0036] In a third aspect, an embodiment of the present application provides a computer device, comprising a computer-readable storage medium and a processor, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the model processing method provided in the first aspect is implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by one or more processors, it implements the model processing method provided in the first aspect.

[0038] The model processing method provided in the embodiment of the present application can calculate at least one triangular face group belonging to the same type through the initial normal vectors and initial vertex coordinates of each triangular face in the initial STL file corresponding to the target model, and then rotate the initial normal vectors of each triangular face according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, so as to obtain the initial rotation angle of each triangular face corresponding to each rotation and the processing angle between the same triangular face group and the processing plane, determine the corresponding target rotation angle through the maximum total area, calculate the target rotation matrix, rotate each initial vertex coordinate to obtain the target vertex coordinate and the target STL file, and process the target model through the target STL file to achieve refined processing of parts, reduce the appearance of step lines, and improve the detail accuracy and surface quality of the model. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of the structure of a computer device provided in an embodiment of the present application is shown;

[0041] Figure 2 A method flow chart of a model processing method provided by an embodiment of the present application is shown;

[0042] Figure 3A schematic diagram showing the normal vector and vertex coordinates of an nth triangle face involved in a model processing method provided in an embodiment of the present application is shown;

[0043] Figure 4 A schematic diagram of triangular facets corresponding to normal vectors having equal values ​​involved in a model processing method provided in an embodiment of the present application is shown;

[0044] Figure 5 A schematic diagram of a process of vector rotation involved in a model processing method provided in an embodiment of the present application is shown;

[0045] Figure 6 A schematic diagram of another process of vector rotation involved in a model processing method provided in an embodiment of the present application is shown;

[0046] Figure 7 A spatial schematic diagram of a vector rotation involved in a model processing method provided in an embodiment of the present application is shown;

[0047] Figure 8 A spatial schematic diagram showing another vector rotation involved in a model processing method provided in an embodiment of the present application is shown;

[0048] Fig. 9 A three-dimensional view of a target model involved in a model processing method provided in an embodiment of the present application is shown;

[0049] Fig.10 A rear view of a target model involved in a model processing method provided in an embodiment of the present application is shown;

[0050] Fig.11 A right view of a target model involved in a model processing method provided in an embodiment of the present application is shown;

[0051] Fig.12 A part processing diagram of a conventional solution is shown;

[0052] Fig.13 A processed part diagram involved in a model processing method provided in an embodiment of the present application is shown;

[0053] Fig.14 A schematic diagram of the functional modules of the model processing device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0056] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0057] See also Figure 1 The computer device provided may be a computer device with data processing capabilities, such as a personal computer, a server, etc., and mainly includes a model processing device 110, a memory 120, and a processor 130. The computer device 100 can be used as an implementation subject in the following model processing method, wherein the memory 120 and the processor 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The computer device 100 includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or solidified in the operating system (OS) of the computer device 100. The processor 130 is used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the model processing device 110.

[0058] The memory 120 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 120 is used to store a program, and the processor 130 executes the program after receiving an execution instruction.

[0059] The processor 130 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0060] See also Figure 2 , Figure 2 A method flow chart of a model processing method provided in an embodiment of the present application. It should be noted that the executor of the actions in the embodiment of the following model processing method can be the computer device 100 with data processing capabilities in the above embodiment. The following will introduce each step of the model processing method in detail.

[0061] S210, obtaining an initial STL file corresponding to the target model and reading the initial normal vector and initial vertex coordinates of each triangular face in the initial STL file.

[0062] The target model in this embodiment can be a model corresponding to a part that needs to be processed physically. The initial STL file corresponding to the target model is a file format used to identify a triangular mesh in a computer graphics application system. It uses many small spatial triangular facets to approximate a three-dimensional solid surface data model, and records the normal vector data and vertex coordinate data information of all triangular facets that constitute the solid model, that is, the initial normal vector and initial vertex coordinate of each triangular facet in this embodiment. Among them, the STL file format in this embodiment includes at least one of a binary file and a text file. In this embodiment and the following embodiments, triangular facets are referred to as triangular facets for short.

[0063] To more vividly demonstrate the initial normal vector and initial vertex coordinates of the triangle face in this embodiment, see Figure 3 , Figure 3 A schematic diagram of the normal vector and vertex coordinates of the nth triangle face involved in a model processing method provided in an embodiment of the present application, wherein: Figure 3 (a) is a schematic diagram of the vertex coordinates of the nth triangle. Figure 3 (b) is a schematic diagram of the normal vector of the nth triangle. Figure 3 In (a), the nth triangle patch consists of three vertices ABC. The vertex coordinates of the three vertices ABC can be represented by (xn1, yn1, zn1), (xn2, yn2, zn2) and (xn3, yn3, zn3) respectively. The spatial rectangular coordinate system XYZ of the nth triangle patch can be found in Figure 3 (b) in which F n The normal vector of the nth triangle can be expressed as (Fxn, Fyn, Fzn).

[0064] Optionally, an association relationship between the initial normal vector and the initial vertex coordinates of each triangle facet may be established in advance;

[0065] The associated initial normal vectors and initial vertex coordinates are stored in the first preset matrix and the second preset matrix respectively.

[0066] Specifically, if the first preset matrix and the second preset matrix in this embodiment are represented by matrix u and matrix v respectively, the normal vectors for all triangular facets can be stored in the following Table 1:

[0067] Table 1

[0068]

[0069] The normal vector (Fxn, Fyn, Fzn) in the nth row represents the normal vector F of the nth triangle in the above embodiment. n, except for the first row and the first column, the rest forms the matrix u. The vertex coordinates for all triangles can be stored in the following Table 2:

[0070] Table 2

[0071]

[0072]

[0073] Among them, the [3(n-1)+1]th row, the [3(n-1)+2]th row and the [3(n-1)+1]th row respectively represent the coordinates of the three vertices ABC in the above embodiment, and the rest except the first row and the first column form the matrix v.

[0074] S220 , calculating triangles of the same type according to the initial normal vectors of the triangles to obtain at least one triangle group.

[0075] This embodiment calculates the same type of triangular facets according to each initial normal vector, which can speed up the processing of the triangular facets.

[0076] The triangles whose initial normal vectors are equal and / or opposite in value may be determined to be the same type of triangles.

[0077] Specifically, the initial normal vector in this embodiment includes the components in the X-axis, Y-axis and Z-axis directions in the spatial rectangular coordinate system. For details, please refer to the above embodiment. Figure 3 The normal vector F in (b) is n (F xn , F yn , F zn ). There are two cases where triangles with equal and / or opposite initial normal vectors are considered to be of the same type:

[0078] Case 1: The components of the two normal vectors in the X-axis, Y-axis, and Z-axis directions in the spatial rectangular coordinate system are in the same direction and are equal. If the normal vector F 1 (F x1 , F y1 , F z1 ) and F 2 (F x2 , F y2 , F z2 ) as an example, that is, F x1 =F x2 , F y1 =F y2 , F z1 =F z2 .

[0079] Case 2: The components of the two normal vectors in the X-axis, Y-axis, and Z-axis directions in the spatial rectangular coordinate system are in opposite directions and are equal. The normal vector F is still used. 1 (F x1 , F y1 , F z1 ) and F 2 (F x2 , F y2 , F z2 ) as an example, that is, |F x1 |=|F x2 |,|F y1 |=|F y2 |,|F z1 |=|F z2 |.

[0080] For example, see Figure 4 , Figure 4 A schematic diagram of a triangular facet corresponding to a normal vector having the same value as a model processing method provided in an embodiment of the present application, Figure 4 In (a), the vector F 1 、F 2 、F 3 and F 4 The normal vectors of the six triangles are the same, so we can judge that the corresponding six triangles belong to the same type of triangles and can be regarded as the same triangle group. Figure 4 In (b), the normal vector F 1 、F 2 、F 3 、F 4 Same normal vector F 6 、F 7 The normal vectors of the six triangles are the same in value but opposite in direction. It can be determined that the corresponding six triangles belong to the same type of triangles and can be regarded as the same triangle group.

[0081] S230, rotating the initial normal vectors of each triangular facet according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, and calculating the processing angle and initial rotation angle between the same triangular facet group and the processing plane each time the rotation occurs, wherein the processing plane is used to process the target model.

[0082] The processing angle between the same triangular face group and the processing plane in this embodiment can be used to measure the number of step textures of the target model after processing. In this embodiment, when the processing angle is too small, the edges of the triangular facets spanning multiple layers between adjacent layers will not be shortened, which may easily lead to the surface of the target model finally processed being inconsistent with the target model described by the data in the STL file corresponding to the target model, and the processing detail accuracy cannot be achieved and the surface quality of the processed target model cannot be guaranteed.

[0083] The processing plane may be a two-dimensional plane formed by a horizontal axis x and a vertical axis y, and the step of "rotating the initial normal vectors of each triangular face according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane" includes:

[0084] Rotate the initial normal vector of each triangular facet around the first direction and the second direction according to the preset rotation matrix, and perform the rotation operation in sequence until the rotation angle around the first direction is greater than 180 degrees, wherein the difference between the rotation angles corresponding to every two pairs of adjacent rotation operations is the same;

[0085] If the rotation angle around the first direction is less than 180 degrees, the initial normal vector of each triangular facet is rotated around the second direction according to the preset rotation matrix until the rotation angle around the second direction is greater than 180 degrees, wherein the first direction is the direction of the horizontal axis and the second direction is the direction of the vertical axis, or the first direction is the direction of the vertical axis and the second direction is the direction of the horizontal axis.

[0086] In this embodiment, there are two situations for the first direction and the second direction:

[0087] In case 1, if the first direction is the horizontal axis, that is, the direction where the x-axis is located, then the second direction is the vertical axis, that is, the direction where the y-axis is located.

[0088] In case 2, if the first direction is the direction of the longitudinal axis, that is, the direction of the y-axis, then the second direction is the direction of the transverse axis, that is, the direction of the x-axis.

[0089] Specifically, in this embodiment, the traversal rotation order of the initial normal vector of each triangular facet can be to rotate around the x-axis of the processing plane first and then around the y-axis of the processing plane, or to rotate around the y-axis of the processing plane first and then around the x-axis of the processing plane. It should be noted that whether rotating around the x-axis or the y-axis, the rotation direction is set according to the right-hand rule, wherein the rotation direction can be clockwise or counterclockwise, and once the rotation direction around the x-axis or the y-axis is determined, the rotation direction cannot be changed during the process of cyclic rotation to a total angle of more than 180 degrees.

[0090] Optionally, the preset rotation matrix includes a rotation matrix around the horizontal axis x and a rotation matrix around the vertical axis y, wherein:

[0091] The rotation matrix R around the horizontal axis x for:

[0092]

[0093] The rotation matrix R around the vertical axis y for:

[0094]

[0095] Among them, the θxs represents the angular step value of rotation around the horizontal axis, p is the number of step values ​​of rotation around the horizontal axis, θys represents the angular step value of rotation around the vertical axis, and q is the number of step values ​​of rotation around the vertical axis.

[0096] Furthermore, the angle space in this embodiment can be all angle spaces between 0 degrees and 90 degrees between the plane where the x-axis of the processing plane is located and the plane where the y-axis is located. If the rotation is first around the x-axis and then around the y-axis, see Figure 5 , Figure 5 A flow chart of a vector rotation involved in a model processing method provided in an embodiment of the present application. Specifically, the order of traversal rotation is to first rotate the initial normal vector around the x-axis of the processing platform coordinate system according to the rotation direction set by the right-hand rule by p set step values ​​θxs angles, and then rotate the initial normal vector around the y-axis of the processing platform coordinate system according to the rotation direction set by the right-hand rule by q set step values ​​θys angles, and after completing subsequent calculations, make q=q+1, and then rotate the initial normal vector around the y-axis of the processing platform coordinate system according to the rotation direction set by the right-hand rule by q set step values ​​θys angles, complete subsequent calculations, and continuously increase the number of θys rotated around the y-axis until the total angle of the initial normal vector rotating around the y-axis of the processing platform coordinate system exceeds 180°. In this embodiment, rotating p set step values ​​θxs angles, and after completing subsequent calculations, making p=p+1, can make the angle of each rotation into an arithmetic progression, that is, the difference between the rotation angles corresponding to each two pairs of adjacent rotation operations is the same. Similarly, by rotating by q set step values ​​θys, q=q+1 after subsequent calculations are completed, so that the angle of each rotation can also form an arithmetic progression.

[0097] Complete the loop traversal around the y axis by rotating the initial normal vector around the x-axis of the machining platform coordinate system according to the rotation direction set by the right-hand rule by p set step values ​​θxs, then set p=p+1, and again rotate the initial normal vector around the x-axis of the machining platform coordinate system according to the rotation direction set by the right-hand rule by p set step values ​​θxs, perform the next loop rotation around the y axis, and then continuously increase the number of θxs rotations around the x-axis until the total angle of rotation of the initial normal vector around the x-axis of the machining platform coordinate system exceeds 180 degrees, where the initial values ​​of p and q are both 0.

[0098] If you rotate around the y-axis first and then around the x-axis, you can refer to Figure 6 , Figure 6 A schematic diagram of another process of vector rotation involved in a model processing method provided in an embodiment of the present application. Specifically, first rotate the initial normal vector around the y-axis of the machining platform coordinate system according to the rotation direction set by the right-hand rule by zero set step value θys angle, then rotate the initial normal vector around the x-axis of the machining platform coordinate system according to the rotation direction set by the right-hand rule by zero set step value θxs angle, after completing subsequent calculations, rotate the initial normal vector around the x-axis of the machining platform coordinate system according to the rotation direction set by the right-hand rule by a set step value θxs angle, complete subsequent calculations, continuously increase the number of θxs rotated around the x-axis until the total angle of rotation of the initial normal vector around the x-axis of the machining platform coordinate system exceeds 180 degrees, complete the cyclic traversal of the initial normal vector around the y-axis of the machining platform coordinate system according to the rotation direction set by the right-hand rule by zero set step value θys angle, then rotate the initial normal vector around the y-axis of the machining platform coordinate system according to the rotation direction set by the right-hand rule by a set step value θys angle, perform the next cyclic rotation around the x-axis, and then continuously increase the number of θys rotated around the y-axis until the total angle of rotation of the initial normal vector around the y-axis of the machining platform coordinate system exceeds 180 degrees.

[0099] Among them, the absolute values ​​of the θxs angle value and the θys angle value are 0.01 degrees or more, which can improve the calculation accuracy while maintaining the calculation speed.

[0100] In addition, when the order of the cyclic rotation is to perform the rotation cycle around the y-axis in the rotation cycle around the x-axis, the normal vector matrix u″ obtained after the rotation is calculated as follows:

[0101] u″=u*Rx*Ry,

[0102] When the order of the cyclic rotation is to perform the rotation cycle around the x-axis in the rotation cycle around the y-axis, the normal vector matrix u″ obtained after the rotation is calculated as follows:

[0103] u″=u*Ry*Rx,

[0104] Wherein, u is a matrix storing all normal vectors of triangular facets in the initial STL file, and u″ is a matrix storing all normal vectors of triangular facets obtained after rotation, for example:

[0105]

[0106]

[0107] In order to better understand the process of rotating around the x-axis first and then around the y-axis, or rotating around the y-axis first and then around the x-axis in this embodiment, the following examples will show the normal vector F of the nth triangle respectively. n Different rotation processes within a single cycle.

[0108] See also Figure 7 , Figure 7 A spatial schematic diagram of a vector rotation involved in a model processing method provided in an embodiment of the present application. Figure 7 (a) is a spatial schematic diagram of rotating the nth initial normal vector Fn (Fxn, Fyn, Fzn) around the x-axis, where Fn' (Fxn', Fyn', Fzn') represents the normal vector after rotating p θxs angles around the x-axis. Figure 7 (b) is a schematic diagram of the rotation of the normal vector Fn" (Fxn", Fyn", Fzn") after Fn' (Fxn', Fyn', Fzn') is rotated around the y-axis by q θys angles.

[0109] See also Figure 8 , Figure 8 A spatial schematic diagram of another vector rotation involved in a model processing method provided in an embodiment of the present application. Figure 8 (a) is a spatial schematic diagram of the normal vector Fn' (Fxn', Fyn', Fzn') after the nth initial normal vector Fn (Fxn, Fyn, Fzn) is rotated by q θys angles around the y-axis. Figure 8 (b) is a schematic diagram of the rotation of the normal vector Fn" (Fxn", Fyn", Fzn") after the normal vector Fn' is rotated around the x-axis by p θxs angles.

[0110] Among them, the angle axy between the triangle face group corresponding to the rotated normal vector and the processing plane is:

[0111]

[0112] Wherein, Fxn″, Fyn″ and Fzn″ are the component values ​​of the normal vector in the xyz axis directions after rotation.

[0113] S240, obtaining the total area of ​​the triangular face group corresponding to all processing angles that meet the preset angle range, and obtaining the target rotation angle corresponding to the triangular face group with the largest total area.

[0114] In this embodiment, the area of ​​each triangular facet can be calculated based on the initial vertex coordinates of each triangular facet, and the triangular facets corresponding to all processing angles belonging to the same triangular facet group and meeting the preset angle rule are summed to obtain the total area of ​​the corresponding triangular facet group.

[0115] Among them, the preset angle range includes the processing angle of 0 degrees and / or greater than or equal to 20 degrees. Within this preset angle range, the edge distance between adjacent layers of triangular facets spanning multiple layers can be effectively shortened, thereby reducing the step lines appearing in the processing target model.

[0116] Optionally, if there are multiple maximum total areas, one of the multiple same maximum total areas may be randomly selected and the corresponding target rotation angle may be obtained.

[0117] S250, calculate the first target rotation matrix according to the target rotation angle and rotate the initial vertex coordinates according to the rotation matrix, and input the second target rotation matrix obtained after the rotation into the initial STL file to obtain the target STL file, so as to complete the processing of the target model according to the target STL file.

[0118] If the angle p*θxs rotated around the x-axis in the above embodiment is represented by Rθx, and the angle q*θys rotated around the y-axis is represented by θys, then in this embodiment, the corresponding first target rotation matrix is ​​divided into a first target rotation matrix Rxt around the x-axis and a first target rotation matrix Ryt around the y-axis, respectively:

[0119]

[0120]

[0121] Then the matrix v storing all the initial vertex coordinates in the above embodiment is rotated according to the above target rotation matrix, and the result of the rotation is stored in the matrix v', which corresponds to the second target rotation matrix summarized in this embodiment, wherein,

[0122] If the order of the cyclic traversal rotation is to cyclically traverse the rotation around the y axis in the cycle of traversal around the x axis, then,

[0123] v'=v*Rxt*Ryt,

[0124] If the order of the cyclic traversal rotation is to cyclically traverse the rotation around the x-axis in the cyclic traversal of the rotation around the y-axis, then,

[0125] v'=v*Ryt*Rxt.

[0126] The second target rotation matrix is ​​input into the initial STL file to obtain a target STL file, and the processing of the target model can be completed according to the target STL file.

[0127] In summary, the model processing method provided by the embodiment of the present application can calculate at least one triangular facet group of the same type through the initial normal vectors and initial vertex coordinates of each triangular facet in the initial STL file corresponding to the target model, and then rotate the initial normal vectors of each triangular facet according to the preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, and obtain the initial rotation angle of each triangular facet corresponding to each rotation and the processing angle between the same triangular facet group and the processing plane. The corresponding target rotation angle is determined by the maximum total area, and the target rotation matrix is ​​calculated and the initial vertex coordinates are rotated to obtain the target vertex coordinates and the target STL file, so that the edge distance between adjacent layers of triangular facets across multiple layers is shortened, the step pattern traces can be reduced, and the surface of the target model finally processed is closer to the designed data model file, thereby improving the detail accuracy and surface quality of the processed parts.

[0128] In order to better illustrate the processing process of the target model in the above embodiment, a detailed description will be given below through an example.

[0129] First, obtain the normal vectors and vertex coordinates of each triangle in the initial STL file. If there are 190110 initial normal vectors and 327330 corresponding initial vertex coordinates, store the 190110 initial normal vectors in the matrix u In the example, the 327,330 initial vertex coordinates corresponding to the initial normal vectors are stored in the matrix in order. v Among them, with the matrix u The corresponding Table 3 is as follows:

[0130] Table 3

[0131] 1 2 3 1 -0.12198 0.089986 0.988445 2 -0.16925 0.136567 0.976066 3 -0.10986 0.078127 9.91E-01 4 -0.10759 0.075846 0.991298 5 -0.00106 0.14719 0.989108 6 -0.07821 0.223582 9.72E-01 7 0.097615 -0.04407 9.94E-01 8 -0.12905 0.099401 0.986643 9 -0.0098 -0.01659 1.00E+00 …… …… …… …… 109105 0 0 -1 109106 0 0 -1 109107 0 0 -1 109108 0 0 -1 109109 0 0 -1 109110 0 0 -1

[0132] In Table 3, the 1st, 2nd, and 3rd columns in the 0th row are used to store the component vector values ​​of the initial normal vector on the x-axis, y-axis, and z-axis, respectively. The 1-109110 in the 0th column represents the row number, and each row corresponding to the number stores an initial normal vector.

[0133] Table 4 corresponding to the matrix v is as follows:

[0134] In Table 4, the 1st, 2nd, and 3rd columns in row 0 are used to store the coordinates of each vertex of the triangle. The 1-327330 in column 0 represents the row number. Each row with a number stores a vertex coordinate. The 1st, 2nd, and 3rd rows store the coordinates of three vertices of the same triangle.

[0135] Table 4

[0136] 1 2 3 1 -18.6485 61.7647 507.9586 2 -18.9073 61.7632 507.9268 3 -18.9061 61.5012 507.9508 4 -18.6485 61.7647 507.9586 5 -18.9061 61.5012 507.9508 6 -18.6482 61.5042 507.9951 7 -13.7243 63.8494 508.1229 8 -13.9853 63.8502 508.0939 9 -13.983 63.5909 508.1146 …… …… …… …… 327324 -23.1601 46.8773 505.8164 327325 -23.1957 47.6675 505.8164 327326 -23.1601 46.8773 505.8164 327327 -23.161 46.8953 505.8164 327328 -23.1957 47.6675 505.8164 327329 -23.161 46.8953 505.8164 327330 -23.1957 47.6492 505.8164

[0137] Second, a column is added to Table 3 corresponding to the matrix u to store the area of ​​each triangle.

[0138] Third, obtain the inverse vector of some normal vectors of matrix u. Specifically, if the component value of the normal vector in the Z direction is less than 0, find the inverse vector of the normal vector, write the component value into the original position of the normal vector in u, and replace the original component value; or, if the component value of the normal vector in the Z direction is equal to 0, and the component value of the normal vector in the X direction is less than 0, find the inverse vector of the normal vector, write the component value into the original position of the normal vector in u, and replace the original component value; or, if the component values ​​of the normal vector in the Z direction and the X direction are both equal to 0, and the component value of the normal vector in the Y direction is less than 0, find the inverse vector of the normal vector, write the component value into the original position of the normal vector in u, and replace the original component value; no calculation is performed in other cases. Remove the areas corresponding to the rows with exactly the same initial normal vectors in Table 3 and remove the same rows, and Table 5 is obtained as follows:

[0139] In Table 5, the 1st, 2nd, and 3rd columns in row 0 are used to store normal vectors, and the 4th column is used to store the area of ​​the triangle corresponding to the normal vector in the same row.

[0140] Table 5

[0141] 1 2 3 4 1 -1 -0.000208417 1.29E-05 3.48E-03 2 -1 -0.000192039 1.44E-05 0.001049 3 -1 -0.000135621 7.03E-06 0.007111 4 -1 -0.000128514 6.43E-06 0.001555 5 -1 -0.000100474 4.78E-06 0.006272 6 -1 -9.65E-05 4.29E-06 0.002324 7 -1 -9.04E-05 1.86E-05 0.0411 8 -1 -6.20E-05 1.28E-05 0.119772 9 -1 -2.09E-05 2.34E-04 0.008609 …… …… …… …… …… 105586 0.999999 0.000239104 0.001239 0.054278 105587 0.999999 -0.001140106 0 0.311575 105588 1 -0.000136618 0.000906 0.007171 105589 1 -4.07E-05 4.48E-05 0.027641 105590 1 0 0 0.707403 105591 1 5.34E-05 0 0.020621

[0142] Fourth, take out the first three columns of normal vectors of matrix u in Table 5 and store them in matrix u 2 , according to the cycle of rotating around the x-axis, the rotation direction is set to clockwise according to the right-hand rule around the x-axis, and the rotation direction around the x-axis is set to clockwise according to the right-hand rule; the step angle θxs of the rotation around the x-axis is set to 5°, and the step angle θys of the rotation around the y-axis is set to 5°; the number of angles p rotated around the x-axis is set to start at 0 and increase by 1 each time, and the number of angles q rotated around the y-axis is set to start at 0 and increase by 1 each time.

[0143] According to the preset rotation matrix rotation matrix u in the above embodiment 2 , calculate the rotated normal vector and store the rotated normal vector in the matrix u″, where

[0144] u″=u 2*Rx*Ry,

[0145] The corresponding area stored in the matrix u is stored again in the fourth column of the matrix u″, and the angle axy between the triangular face group corresponding to the normal vector of the same type after rotation and the processing plane is calculated each time, and the value of axy is stored in the fifth column of the matrix u″ to obtain the latest matrix u″ as shown in Table 6. Among them, the specific calculation method of axy has been given in the above embodiment and will not be repeated here.

[0146] In Table 6, the first, second and third columns are still used to store the normal vector, the fourth column is used to store the area of ​​the triangle where the normal vector is located, and the fifth column is used to store the processing angle.

[0147] Table 6

[0148] 1 2 3 4 5 1 -0.819134 -0.000206 0.5736019 0.0024642 54.998222 2 -0.819134 -0.00019 0.5736019 0.0344064 54.99822 3 -0.819141 -0.000134 0.5735919 0.0351889 54.998922 4 -0.819142 -0.000127 0.5735909 0.0007033 54.998992 5 -0.819144 -9.97E-05 0.5735875 0.0352962 54.999225 6 -0.819145 -9.58E-05 0.5735868 0.0346041 54.999273 7 -0.819137 -8.84E-05 0.5735981 0.0344833 54.998487 8 -0.819142 -6.07E-05 0.5735913 0.0347575 54.998961 9 -0.819018 -4.80E-07 0.5737685 0.0353188 54.986568 …… …… …… …… …… …… 105586 0.3405638 -0.010793 0.9401594 0.0341996 19.921649 105587 0.3406462 -0.004414 0.9401812 0.0354798 19.917989 105588 0.3406501 -0.024839 0.9398619 0.0374807 19.971612 105589 0.340874 -0.00772 0.9400773 0.0340051 19.93546 105590 0.341064 -0.004798 0.9400278 0.0341382 19.94377 105591 0.3413384 0.0065354 0.9399178 0.033843 19.96225

[0149] In addition, the area values ​​of the triangular facets that meet the preset angle range in the above embodiment after cyclic rotation and the rotation angles around the x-axis and around the y-axis can be stored in the matrix c. Table 7 corresponding to the matrix c is as follows:

[0150] Table 7

[0151] 1 2 3 1 5487.659 0 0 2 1527.202 0 5 3 1761.871 0 10 4 5428.665 0 15 5 3015.797 0 20 6 7240.327 0 25 7 7823.861 0 30 8 8036.284 0 35 9 8103.927 0 40 …… …… …… …… 1364 7129.883 180 155 1365 6138.566 180 160 1366 5385.042 180 165 1367 1750.643 180 170 1368 1552.099 180 175 1369 1543.175 180 180

[0152] Among them, the first column is used to store the total area of ​​the triangular face group that satisfies the processing angle of 0 degree or greater than or equal to 20 degrees, the second column is used to store the angle rotated around the x-axis in each cycle, and the third column is used to store the angle rotated around the y-axis in each cycle.

[0153] Fifth, the maximum value of the total area values ​​that meet the conditions stored in the obtained matrix c is 8149.5292993596, and the first row in the matrix c where the maximum value appears is found, and the corresponding rotation angle around the x-axis is 20 degrees, and the rotation angle around the y-axis is 60 degrees.

[0154] Sixth, calculate the matrix value of the rotation matrix Rxt around the x-axis:

[0155]

[0156] The matrix Ryt for rotation around the y-axis is:

[0157]

[0158] The above matrix v is rotated according to the obtained matrices Rxt and Ryt, and the rotated matrix v' is:

[0159]

[0160] The rotated matrix can be seen in Table 8 below:

[0161] Table 8

[0162] 1 2 3 1 385.7567 231.7719 244.2502 2 385.6018 231.7596 244.4596 3 385.6996 231.5216 244.5146 4 385.7567 231.7719 244.2502 5 385.6996 231.5216 244.5146 6 385.8637 231.5396 244.3116 7 387.735 233.7871 239.7064 8 387.5807 233.7779 239.9186 9 387.6755 233.5413 239.9707 …… …… …… …… 327324 386.1672 217.0497 249.6967 327325 385.9153 217.7922 249.5924 327326 386.1672 217.0497 249.6967 327327 386.1614 217.0666 249.6944 327328 385.9153 217.7922 249.5924 327329 386.1614 217.0666 249.6944 327330 385.9208 217.775 249.5955

[0163] In Table 8, the first, second and third columns are used to store the vertex coordinates of each rotated triangle.

[0164] The rotated matrix in Table 8 is stored in the initial STL file, and the target STL file is obtained to complete the processing of the target model according to the target STL file.

[0165] Among them, see Fig. 9 , Fig. 9 This is a three-dimensional view of a target model involved in a model processing method provided in an embodiment of the present application. After the target model is rotated, the following can be obtained: Fig.10 The embodiment of the present application shown in the embodiment of the present application provides a model processing method involved in the target model of the rear view and Fig.11 The shown embodiment of the present application is a right view of a target model involved in a model processing method provided in an embodiment of the present application.

[0166] In order to better reflect the processing effect of the target model, please refer to Fig.12 , Fig.12 For the parts processing drawings of the conventional scheme, please refer to Fig.13 , Fig.13 This is a drawing of processed parts involved in a model processing method provided in an embodiment of the present application. It is obvious that the step texture of the parts processed by the above-mentioned model processing method of the present application is significantly improved.

[0167] Corresponding to the above method embodiment, the present application also provides a model processing device, see Fig.14 , Fig.14 This is a functional module diagram of a model processing device provided in an embodiment of the present application. The model processing device 1400 may be the model processing device 110 in the above-mentioned model processing method embodiment. The model processing device 1400 includes:

[0168] The first acquisition module 1410 is used to acquire an initial STL file corresponding to the target model and read the initial normal vector and initial vertex coordinates of each triangular face in the initial STL file;

[0169] A first calculation module 1420 is used to calculate triangles of the same type according to the initial normal vectors of the triangles to obtain at least one triangle group;

[0170] A rotation module 1430 is used to rotate the initial normal vectors of each triangular face according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, and calculate the processing angle and initial rotation angle between the same triangular face group and the processing plane each time the rotation is performed, wherein the processing plane is used to process the target model;

[0171] The second acquisition module 1440 is used to acquire the total area of ​​the triangular face group corresponding to all processing angles that meet the preset angle range, and acquire the target rotation angle corresponding to the triangular face group with the largest total area;

[0172] The second calculation module 1450 is used to calculate the target rotation matrix according to the target rotation angle and rotate the initial vertex coordinates according to the rotation matrix, and input the target vertex coordinates obtained after rotation into the initial STL file to obtain the target STL file, so as to complete the processing of the target model according to the target STL file.

[0173] The model processing device provided in the embodiment of the present application can calculate at least one triangular facet group of the same type through the initial normal vectors and initial vertex coordinates of each triangular facet in the initial STL file corresponding to the target model, and then rotate the initial normal vectors of each triangular facet according to the preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, and obtain the initial rotation angle of each triangular facet corresponding to each rotation and the processing angle between the same triangular facet group and the processing plane. The target rotation angle corresponding to the maximum total area is determined to calculate the target rotation matrix and rotate the initial vertex coordinates to obtain the target vertex coordinates and the target STL file, so that the edge distance between adjacent layers of triangular facets across multiple layers is shortened, the step pattern traces can be reduced, and the surface of the target model finally processed is closer to the designed data model file, thereby improving the detail accuracy and surface quality of the processed parts.

[0174] The embodiment of the present application further discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the model processing method described in the method embodiment is implemented.

[0175] The specific implementation process of the model processing device, computer equipment and computer-readable storage medium provided in this embodiment can refer to the specific implementation process of the method for obtaining the performance requirement indicator mentioned above, which will not be described in detail here.

[0176] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A model processing method, characterized in that: The model processing method comprises: Obtain an initial STL file corresponding to the target model and read the initial normal vector and initial vertex coordinates of each triangular face in the initial STL file; Calculate the triangles of the same type according to the initial normal vectors of each triangle to obtain at least one triangle group; Rotate the initial normal vector of each triangular face according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, and calculate the processing angle and initial rotation angle between the same triangular face group rotated each time and the processing plane, wherein the processing plane is used to process the target model; Obtain the total area of ​​the triangular face group corresponding to all processing angles that meet the preset angle range, and obtain the target rotation angle corresponding to the triangular face group with the largest total area; Calculating a target rotation matrix according to the target rotation angle and rotating each initial vertex coordinate according to the target rotation matrix, and inputting the target vertex coordinates obtained after rotation into the initial STL file to obtain a target STL file, so as to complete the processing of the target model according to the target STL file; The preset angle range includes: The processing angle is 0 degrees and / or greater than or equal to 20 degrees; The processing plane includes a horizontal axis and a vertical axis, and the step of "rotating the initial normal vectors of each triangular face according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane" includes: Rotate the initial normal vector of each triangular facet around the first direction and the second direction according to the preset rotation matrix, and perform the rotation operation in sequence until the rotation angle around the first direction is greater than 180 degrees, wherein the difference between the rotation angles corresponding to every two pairs of adjacent rotation operations is the same; If the rotation angle around the first direction is less than 180 degrees, rotating the initial normal vector of each triangular facet around the second direction according to the preset rotation matrix until the rotation angle around the second direction is greater than 180 degrees, wherein the first direction is the direction of the horizontal axis and the second direction is the direction of the vertical axis, or the first direction is the direction of the vertical axis and the second direction is the direction of the horizontal axis; The preset rotation matrix includes a rotation matrix around the horizontal axis and a rotation matrix around the vertical axis, wherein: The rotation matrix Rx around the horizontal axis is: The rotation matrix Ry around the longitudinal axis is: Among them, the θxs represents the angular step value of rotation around the horizontal axis, p is the number of step values ​​of rotation around the horizontal axis, θys represents the angular step value of rotation around the vertical axis, and q is the number of step values ​​of rotation around the vertical axis.

2. The model processing method according to claim 1, characterized in that: The step of "obtaining the total area of ​​the triangular facet group corresponding to all processing angles that meet the preset angle range" includes: Calculate the area of ​​each triangle according to the initial vertex coordinates of each triangle; The triangular facets corresponding to all the processing angles belonging to the same triangular facet group and meeting the preset angle range are summed to obtain the total area of ​​the corresponding triangular facet group.

3. The model processing method according to claim 1, characterized in that: The step of "calculating triangular facets of the same type according to the initial normal vectors of each triangular facet to obtain at least one triangular facet group" includes: The triangles whose initial normal vectors are equal and / or opposite in value are determined to be triangles of the same type.

4. The model processing method according to claim 1, characterized in that: Before the step of "obtaining an initial STL file corresponding to the target model and reading the initial normal vectors and initial vertex coordinates of each triangular facet in the initial STL file", the method further includes: Establish the relationship between the initial normal vector and initial vertex coordinates of each triangle; The associated initial normal vectors and initial vertex coordinates are stored in the first preset matrix and the second preset matrix respectively.

5. A model processing device, characterized in that: The model processing device comprises: A first acquisition module is used to acquire an initial STL file corresponding to the target model and read the initial normal vector and initial vertex coordinates of each triangular face in the initial STL file; A first calculation module, used for calculating triangular facets of the same type according to the initial normal vectors of each triangular facet to obtain at least one triangular facet group; A rotation module, used to rotate the initial normal vectors of each triangular facet according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane, and calculate the processing angle and initial rotation angle between the same triangular facet group and the processing plane for each rotation, wherein the processing plane is used to process the target model; A second acquisition module is used to acquire the total area of ​​the triangular face group corresponding to all processing angles that meet the preset angle range, and acquire the target rotation angle corresponding to the triangular face group with the largest total area; A second calculation module is used to calculate a target rotation matrix according to the target rotation angle and rotate the initial vertex coordinates according to the target rotation matrix, and input the target vertex coordinates obtained after the rotation into the initial STL file to obtain a target STL file, so as to complete the processing of the target model according to the target STL file; The preset angle range includes: The processing angle is 0 degrees and / or greater than or equal to 20 degrees; The processing plane includes a horizontal axis and a vertical axis, and the step of "rotating the initial normal vectors of each triangular face according to a preset rotation matrix until all the initial normal vectors traverse the angle space formed by the processing plane" includes: Rotate the initial normal vector of each triangular facet around the first direction and the second direction according to the preset rotation matrix, and perform the rotation operation in sequence until the rotation angle around the first direction is greater than 180 degrees, wherein the difference between the rotation angles corresponding to every two pairs of adjacent rotation operations is the same; If the rotation angle around the first direction is less than 180 degrees, rotating the initial normal vector of each triangular facet around the second direction according to the preset rotation matrix until the rotation angle around the second direction is greater than 180 degrees, wherein the first direction is the direction of the horizontal axis and the second direction is the direction of the vertical axis, or the first direction is the direction of the vertical axis and the second direction is the direction of the horizontal axis; The preset rotation matrix includes a rotation matrix around the horizontal axis and a rotation matrix around the vertical axis, wherein: The rotation matrix Rx around the horizontal axis is: The rotation matrix Ry around the longitudinal axis is: Among them, the θxs represents the angular step value of rotation around the horizontal axis, p is the number of step values ​​of rotation around the horizontal axis, θys represents the angular step value of rotation around the vertical axis, and q is the number of step values ​​of rotation around the vertical axis.

6. A computer device, characterized in that: The computer device includes a computer-readable storage medium and a processor, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the model processing method according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by one or more processors, implements the model processing method according to any one of claims 1 to 4.

Images