Concrete 3D printing process scheme generation method, device and electronic equipment

Abstract

The application relates to a concrete 3D printing process scheme generation method and device and electronic equipment, and belongs to the field of additive manufacturing technology. The concrete 3D printing process scheme generation method comprises the following steps: obtaining a three-dimensional digital model corresponding to a target printing object, and performing layering and slicing processing on the three-dimensional digital model; for any slice layer obtained through the slicing processing, the following processing steps are performed: based on the solidification characteristics of concrete, a slice layer pattern in the slice layer is subjected to combination and segmentation processing to generate a pattern model corresponding to one-time printing output, and the printing control mode of the slice layer is determined based on the generation result; and a concrete 3D printing process scheme of the target printing object is generated according to the printing control modes of the slice layers. The application can generate a reasonable and effective concrete 3D printing process scheme.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of additive manufacturing, and particularly relates to a concrete 3D printing process scheme generation method and device and electronic equipment. BACKGROUND

[0002] Additive Manufacturing (AM) is commonly known as 3D printing, which is a manufacturing technology that integrates computer-aided design, material processing and forming technology, and is based on a digital model file. Through software and numerical control systems, special metal materials, non-metal materials and medical biological materials are used to manufacture solid objects by means of extrusion, sintering, melting, light curing and spraying.

[0003] In related technologies, the material properties of the printing materials in the 3D printing process affect the printing quality of the printed objects. Taking concrete 3D printing in the construction industry as an example, the concrete 3D printing production process is to form a three-dimensional solid building by layering materials. A key factor affecting the quality of the printed objects is the adhesion of the adjacent two layers of materials. The performance of the concrete material gradually changes over time. In the initial stage of material mixing and stirring, it has greater fluidity. In the middle stage, the material undergoes hydration reaction, thereby reducing the fluidity and gradually developing support ability. In the later stage, the material hydration reaction is basically completed, so the material hardens and has higher supportability. However, the adhesion of the hardened material is poor, and when the material has been hardened and has no adhesion, the quality of the printed objects will be greatly reduced.

[0004] Therefore, for this printing material of concrete, how to generate a concrete 3D printing process scheme based on the material properties to perform reasonable and effective 3D printing operation has become a technical problem to be solved. SUMMARY

[0005] To at least partially overcome the problems in the related art, the application provides a concrete 3D printing process scheme generation method, device and electronic equipment to solve the technical problem of how to generate a reasonable and effective concrete 3D printing process scheme based on the material properties.

[0006] To achieve the above object, the application adopts the following technical solutions:

[0007] In a first aspect,

[0008] The application provides a concrete 3D printing process scheme generation method, which comprises:

[0009] obtaining a three-dimensional digital model corresponding to a target printed object, and performing layering and slicing processing on the three-dimensional digital model;

[0010] The following processing steps are performed on each slice layer obtained by slicing: based on the setting characteristics of the concrete, the slice layer pattern in the slice layer is combined and segmented to generate a pattern model corresponding to the first printing output, and the printing control mode of the slice layer is determined based on the generation result;

[0011] A concrete 3D printing process scheme of the target printed object is generated according to the printing control mode of each slice layer.

[0012] Optionally, the combined segmentation processing of the slice layer pattern in the slice layer based on the setting characteristics of the concrete generates a pattern model corresponding to the first printing output, and the printing control mode of the slice layer is determined based on the generation result, comprising:

[0013] The printing duration required by each slice layer pattern is calculated and determined;

[0014] According to the printing duration of each slice layer pattern, the slice layer patterns are divided into three categories: I, II and III, with the setting support time parameter value and the initial setting time parameter value as the classification boundaries, the printing duration of the I category is less than or equal to the setting support time parameter value, the printing duration of the II category is greater than the setting support time parameter value and less than the initial setting parameter value, and the printing duration of the III category is greater than or equal to the initial setting parameter value, wherein the setting support time parameter value is less than the initial setting parameter value;

[0015] For the slice layer pattern classified as the I category, the pattern is combined nearby to make the printing duration of each combination close to the initial setting parameter value, and each pattern combination is determined as a pattern model;

[0016] For the slice layer pattern classified as the II category, each pattern is determined as a pattern model;

[0017] For the slice layer pattern classified as the III category, the pattern is segmented to make the printing duration of each sub-pattern close to the initial setting parameter value, and each sub-pattern is determined as a pattern model;

[0018] Based on the determined each pattern model, the output control information in the printing control mode of the slice layer is generated.

[0019] Optionally, the printing control mode of the slice layer determined based on the generation result further comprises:

[0020] For each pattern model in the slice layer, the shortest printing path planning is performed to determine the printing path control information in the printing control mode of the slice layer.

[0021] Optionally, the shortest printing path planning is performed based on a genetic algorithm.

[0022] Optionally, the computing determines a printing duration required by each of the slice layer patterns, including the following processing steps for any of the slice layer patterns respectively:

[0023] analyzing and calculating the slice layer pattern to determine a total printing length of the pattern;

[0024] computing a ratio of the total printing length and a preset printing speed value to obtain the printing duration of the slice layer pattern.

[0025] In a second aspect,

[0026] The application provides a concrete 3D printing process scheme generation device, which comprises:

[0027] An acquisition and layering processing module is configured to acquire a three-dimensional digital model corresponding to a target printing object and perform layering and slicing processing on the three-dimensional digital model;

[0028] A printing mode determination module is configured to perform the following processing on each slice layer obtained through the slicing processing: based on the setting characteristics of concrete, performing combined and segmented processing on the slice layer patterns in the slice layer to generate a pattern model corresponding to one-time printing output, and determining a printing control mode of the slice layer based on the generation result;

[0029] A scheme generation module is configured to generate a concrete 3D printing process scheme of the target printing object according to the printing control modes of the slice layers.

[0030] Optionally, the printing mode determination module is configured to perform the following processing steps on each slice layer obtained through the slicing processing:

[0031] computing a printing duration required by each of the slice layer patterns in the slice layer;

[0032] According to the printing duration of each of the slice layer patterns, taking a setting supportable time parameter value and an initial setting time parameter value of concrete as classification boundaries, the slice layer patterns are divided into I-class patterns with a printing duration less than or equal to the setting supportable time parameter value, II-class patterns with a printing duration greater than the setting supportable time parameter value and less than the initial setting parameter value, and III-class patterns with a printing duration greater than or equal to the initial setting parameter value, wherein the setting supportable time parameter value is less than the initial setting parameter value;

[0033] for the slice layer patterns classified as I-class patterns, performing pattern combination in the vicinity to make the printing duration of each combination close to the initial setting parameter value, and determining each pattern combination as a pattern model;

[0034] for the slice layer patterns classified as II-class patterns, determining each pattern as a pattern model;

[0035] For the slice layer pattern classified as the type III, the pattern is segmented, so that the printing time of each sub-pattern obtained by the segmentation is close to the initial setting parameter value, and each sub-pattern is determined as a pattern model;

[0036] Based on the determined pattern models, the discharge control information in the slice layer printing control mode is generated.

[0037] In a third aspect,

[0038] The application provides an electronic device, comprising:

[0039] A memory having an executable program stored thereon;

[0040] A processor configured to execute the executable program in the memory to implement the steps of the method.

[0041] The application has at least the following beneficial effects:

[0042] The technical scheme of the application specifically considers the setting characteristics of concrete in the generation process of the concrete 3D printing process scheme, combines and segments the slice layer pattern, and regenerates a pattern model corresponding to one-time printing discharge, so that the one-time printing discharge operation in practice can meet the support and bonding requirements, and a reasonable and effective concrete 3D printing process scheme can be generated.

[0043] Other advantages, objects, and features of the application will be explained in the following description, and will be apparent to those skilled in the art based on the following description, or can be learned from the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the technical scheme of the application or the prior art, and constitute a part of the specification. The drawings expressing the embodiments of the application are used to explain the technical scheme of the application together with the embodiments of the application, but do not constitute a limitation on the technical scheme of the application.

[0045] Figure 1 A flowchart of a concrete 3D printing process scheme generation method provided by an embodiment of the application is shown in the figure;

[0046] Figure 2 An explanatory diagram of the classification limit of the slice layer pattern in an embodiment of the application is shown in the figure;

[0047] Figure 3 A general flowchart of path planning based on a genetic algorithm in an embodiment of the application is shown in the figure;

[0048] Figure 4 FIG. 3 is a schematic diagram illustrating gene transposition in a path planning process based on a genetic algorithm according to an embodiment of the present application;

[0049] Figure 5 FIG. 3 is a schematic diagram illustrating gene transposition in a path planning process based on a genetic algorithm according to an embodiment of the present application;

[0050] Figure 6 FIG. 9 is a structural schematic diagram of a concrete 3D printing process scheme generation device according to an embodiment of the present application;

[0051] Figure 7 FIG. 9 is a structural schematic diagram of a concrete 3D printing process scheme generation device according to an embodiment of the present application; DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0053] As described in the background, the material properties of the printing material in the 3D printing process affect the printing quality of the printed object. Taking concrete 3D printing in the construction industry as an example, the concrete 3D printing production process is to form a three-dimensional solid building by layering materials. A key factor affecting the quality of the printed object is the adhesion of adjacent two layers of materials. The performance of the concrete material gradually changes over time. In the initial stage of material mixing and stirring, it has greater fluidity. In the middle stage, the material undergoes hydration reaction, thereby reducing the fluidity and gradually developing support ability. In the later stage, the material hydration reaction is basically completed, so the material hardens and has higher supportability. However, the adhesion of the hardened material is poor. When the material has been hardened and has no adhesion, the quality of the printed object will be greatly reduced.

[0054] Therefore, for such a printing material as concrete, how to generate a concrete 3D printing process scheme based on the material properties to perform reasonable and effective 3D printing work has become a technical problem to be solved.

[0055] Based on this, the present application proposes a concrete 3D printing process scheme generation method. In an embodiment, as shown in FIG. 1, the concrete 3D printing process scheme generation method proposed by the present application includes: Figure 1

[0056] Step S110, acquiring a three-dimensional digital model corresponding to a target printed object, and performing layering and slicing processing on the three-dimensional digital model;

[0057] ​It is readily understood by those skilled in the art that in step S110, the three-dimensional digital model is derived from the three-dimensional modeling of the designed printable (referred to as the target printable in this application) before actual printing. Generally speaking, the result of the three-dimensional modeling needs to be saved in STL file format (the definition of a volume in the STL file format is achieved through multiple triangular faces, and the data contained in the triangular faces are the spatial coordinate information of each vertex and the normal vector information of the face).

[0058] The layer slicing process in step S110 involves converting spatial point data into planar point information for subsequent reading by the actual printing equipment. A key parameter of slicing is the thickness of each layer. The relevant implementation methods in step S110 can be found in existing publicly available technical materials, and will not be described in further detail here.

[0059] As will be readily understood by those skilled in the art, after slicing, several slice layers are obtained. The layer information in each slice layer represents the structural outline of each layer of the printed object, including the outer outline and the inner outline, which are formed after slicing the external shape and internal structure, respectively. In practice, the filling path can be planned according to the shape of the outline graphic, and the material output method can be set. Then, after planning and setting all slice layers, the control program (printing process scheme) of the equipment is generated based on the planning and setting information. Due to the differences in actual printing equipment, the format and logic of the generated program are generally different, but the content of the program is essentially the planned point information.

[0060] In the technical solution of this application, after step S110, step S120 is performed, and the following processing steps are performed on any slice layer obtained by the slicing process:

[0061] Based on the solidification characteristics of concrete, the pattern of the slice layer in the slice layer is combined and segmented to generate the pattern model corresponding to one printing output, and the printing control method of the slice layer is determined based on the generation result.

[0062] Here, we will take a slice layer A obtained after slicing as an example to further explain step S120;

[0063] Specifically, in step S120, for slice layer A, the printing time required for each slice layer pattern (referring to each independent outline graphic) in slice layer A is calculated and determined;

[0064] Based on the printing time of each slice pattern, and using the concrete setting support time parameter (the time it takes for fluid concrete to harden and meet support requirements from spraying, which can be determined based on prior concrete testing) and the initial setting time parameter (the time it takes for fluid concrete to harden and become non-bonding from spraying) as classification boundaries, each slice pattern is divided into:

[0065] Type I patterns have a printing time less than or equal to the solidification support time parameter value; Type II patterns have a printing time greater than the solidification support time parameter value but less than the initial solidification parameter value; and Type III patterns have a printing time greater than or equal to the initial solidification parameter value, wherein the solidification support time parameter value is less than the initial solidification parameter value.

[0066] For slice layer patterns classified as Class I patterns, patterns are combined in close proximity so that the printing time of each combination is close to the initial setting parameter value (meaning close to but not exceeding it; in actual implementation, the difference between the two can be limited by the method of being less than a preset threshold), and each pattern combination is determined as a pattern model.

[0067] For slice layer patterns classified as Class II, each pattern is defined as a pattern model;

[0068] For slice layer patterns classified as Class III, pattern segmentation is performed so that the printing time of each sub-pattern obtained by segmentation is close to the initial solidification parameter value, and each sub-pattern is determined as a pattern model.

[0069] Based on the determined pattern models, the material output control information in the printing control mode of the slice layer A is generated.

[0070] In other words, the above-mentioned processing method in this embodiment is based on the classification of slice layer patterns. For patterns that have not exceeded the curing time, a merge printing method is used to reasonably allocate and combine these contour patterns so that the total printing volume of each combination is as close as possible to the initial setting time without exceeding it. For contour patterns that have exceeded the initial setting time, a segmented printing method is used. Since the contour patterns that have exceeded the initial setting time cannot be completed in one go before the concrete sets, they are divided into multiple patterns and printed separately, so that the printing volume of each pattern is close to the setting time of the concrete.

[0071] In the above process, the principles of classification and printing strategies can be explained in conjunction with the concept of time windows, such as... Figure 2 As shown, concrete possesses supportability ( Figure 2 From point t1 on the mid-time axis until the concrete reaches its initial setting time ( Figure 2 Establish a time window at t2 on the time axis and classify the objects to be printed (slice layer patterns) into left-aligned, center-aligned, and right-aligned. Centered objects are printed directly, left-aligned objects can be printed together with other objects according to time, and right-aligned objects are printed in different areas, so that "all areas of printed objects" (referring to pattern models) are centered.

[0072] It is readily understood that the method in this application can also be adapted to printing materials with properties similar to concrete, such as clay.

[0073] As a specific embodiment, the printing time length required by each slice layer pattern in a slice layer (such as slice layer A) is calculated, including the following processing steps for each slice layer pattern in the slice layer respectively:

[0074] The slice layer pattern is analyzed and calculated to determine the total printing length of the pattern; the ratio of the total printing length to the preset printing speed value is calculated to obtain the printing time length of the slice layer pattern. That is, the total length (or printing amount) of each pattern that needs to be printed in the slice layer is determined by using related graphic processing technology. Based on the rated printing speed of the known device, the time required for printing a certain pattern is calculated based on the printing amount.

[0075] In addition, it is easy to understand that the above-mentioned classification processing of the contour pattern based on the setting time and other setting characteristic parameters will finally make the printing time required by each pattern model within a suitable time window (in which the printed concrete can have a better bonding effect with the underlying concrete and can support the upper concrete). On this basis, the printing order between the pattern models will obviously affect the actual printing efficiency.

[0076] Therefore, as a preferred embodiment, in order to improve the printing efficiency, in step S120, the printing control mode of the slice layer is determined based on the generation result, and further includes:

[0077] For each pattern model in the slice layer, the shortest printing path planning is performed to determine the printing path control information in the printing control mode of the slice layer. For example, the shortest printing path planning can be performed based on a genetic algorithm (the specific implementation will be introduced later).

[0078] After the above processing is performed on each slice layer in step S120, step S130 can be performed, that is, the concrete 3D printing process scheme of the target printed object is generated according to the printing control mode of each slice layer. This process is similar to the prior art, mainly including the connection control processing between layers and the conversion of control information into device control instructions based on the characteristics of the printing device, which will not be described in detail here.

[0079] Further, in the actual printing operation, after the printing device reads the control program (concrete 3D printing process scheme), the printing points in the program are traversed, and the material is extruded and laid on the printing platform according to the program setting on the discharge path, and then the entity structure of the printed object is formed by layer-by-layer stacking. On the path where the material needs to be discharged, an instruction is sent to the discharge device to control it to open; on the path of the empty stroke, it is controlled to close.

[0080] The technical scheme of the present application specifically considers the setting property of the concrete in the concrete 3D printing process scheme generation process, performs combination segmentation on the slice layer pattern, regenerates a pattern model corresponding to one-time printing discharge, can guarantee that the one-time printing discharge operation in practice meets the support and adhesion requirements, and further can generate a reasonable and effective concrete 3D printing process scheme.

[0081] The technical scheme of the present application, in the generated concrete 3D printing process scheme, the printing control method based on the setting time can maximize the performance of the material on the basis of meeting the 3D printing requirements, reasonably plan the printing path, improve the work efficiency, and be beneficial to the engineering progress.

[0082] In actual engineering scenarios, compared with the traditional building construction process, the concrete 3D printing process scheme generated by the method in the present application has the advantages of high efficiency, high precision, low labor cost, and can also build complex structure building components.

[0083] The following briefly describes the implementation of the shortest printing path planning based on the genetic algorithm in the above embodiment.

[0084] As shown in Figure 3 , it is a general flow diagram of the genetic algorithm. In the application of the present application, the goal of planning is to complete the work in the manner of printing one pattern model and then printing the next pattern model, and to optimize the printing order of each pattern model with the goal of the shortest path of traversing all pattern models. It is easy to understand that, in order to achieve the shortest printing path planning, each pattern model can be simplified as a position point (the position information of the position point can use the geometric center position information of the corresponding pattern model).

[0085] In actual algorithm implementation, the following related parts are involved:

[0086] (1) Chromosome coding

[0087] The coding rule is that each pattern model is first numbered, and one chromosome represents the access path of one printing device, for example, the access path can be represented as 1-2-4-3-7-5.

[0088] (2) Initial population

[0089] Creating an initial population is the basis for the evolution of the genetic algorithm, and randomly arranging all the pattern models to be printed can generate N sequences, i.e. N chromosomes as the initial population, providing samples for the following crossover and mutation.

[0090] (3) Fitness function

[0091] The fitness size is calculated according to the time size for traversing all pattern models, and the shorter the path (the smaller the time) is, the larger the fitness value is. The screening of the chromosome properties is judged by the fitness function, and the chromosome sequence that is more in line with the fitness function has more advantages.

[0092] (4) selection operator

[0093] This step is to save good genetic genes and eliminate inferior genetic genes, and the fitness function is a ruler for screening the performance of each gene. The genes with large advantages are retained, and the genes with small advantages are removed, and finally the optimal solution is formed. When selecting, replace the worst individual with the best individual of each generation to avoid the optimal performance being destroyed.

[0094] (5) gene recombination

[0095] An important step in genetic algorithm is gene recombination, and the main recombination methods are crossover and mutation. However, the single-parent genetic algorithm does not involve the crossover of two individual genes, so only individual mutation operation is used to realize gene recombination. There are two forms of mutation operation: gene shift and gene transposition.

[0096] As shown in the example of Figure 4 , the operation flow of gene shift is selected according to a certain probability, a genetic gene array is randomly selected, a position A in the array is randomly selected, a string B is selected, the string B contains random bits, the last bit of the string is converted to the front end of the string, and the remaining positions are sequentially moved to form a new genetic gene array.

[0097] As shown in the example of Figure 5 , gene transposition is selected according to a certain probability, a genetic gene array is randomly generated, two integers C and D are randomly generated, and the genes on the array corresponding to the two integers are exchanged.

[0098] (6) form a new population

[0099] The chromosome code array after mutation and recombination is tested for fitness, the selection mechanism is performed according to the single-parent genetic algorithm, and finally the pattern model with high performance is printed and sorted.

[0100] In practice, Figure 3 the termination condition shown in

[0101] In the technical solution of the application, the concrete 3D printing scheme generation based on the setting time is mainly combined with three parts of the 3D printing process, the path planning based on the setting time limit, and the genetic algorithm optimization. The innovation point of the application is to first study 3D printing based on the setting time of concrete, which improves the research content of path planning to the time field and reasonably solves the problems faced by concrete as a printing material applied to 3D printing.

[0102] Figure 6 A structural schematic diagram of a concrete 3D printing process scheme generation device provided for an embodiment of the present application is shown in FIG. 3. As shown in the figure, the concrete 3D printing process scheme generation device 300 comprises: Figure 6

[0103] An acquisition and layering processing module 301, configured to acquire a three-dimensional digital model corresponding to a target printing object, and perform layering and slicing processing on the three-dimensional digital model;

[0104] A printing mode determination module 302, configured to perform the following processing on each slice layer obtained by the slicing processing: based on the solidification characteristics of concrete, performing combined segmentation processing on the slice layer patterns in the slice layer, generating a pattern model corresponding to one-time printing of material, and determining the printing control mode of the slice layer based on the generation result;

[0105] A scheme generation module 303, configured to generate a concrete 3D printing process scheme of the target printing object according to the printing control modes of the slice layers.

[0106] Further, the printing mode determination module 302 is configured to perform the following processing steps on each slice layer obtained by the slicing processing:

[0107] Calculate the printing duration required for each of the slice layer patterns in the slice layer;

[0108] According to the printing duration of each slice layer pattern, and taking the solidification support time parameter value and the initial setting time parameter value of concrete as classification boundaries, divide each of the slice layer patterns into: a first-class pattern with a printing duration less than or equal to the solidification support time parameter value, a second-class pattern with a printing duration greater than the solidification support time parameter value and less than the initial setting parameter value, and a third-class pattern with a printing duration greater than or equal to the initial setting parameter value, wherein the solidification support time parameter value is less than the initial setting parameter value;

[0109] For the slice layer pattern classified as the first-class pattern, perform pattern combination nearby, so that the printing duration of each combination is close to the initial setting parameter value, and each pattern combination is determined as a pattern model;

[0110] For the slice layer pattern classified as the second-class pattern, each pattern is determined as a pattern model;

[0111] For the slice layer pattern classified as the third-class pattern, perform pattern segmentation, so that the printing duration of each sub-pattern obtained by the segmentation is close to the initial setting parameter value, and each sub-pattern is determined as a pattern model;

[0112] Based on the determined pattern models, generate the material output control information in the printing control mode of the slice layer. ​

[0113] As to the concrete 3D printing process scheme generation device 300 in the above-mentioned related embodiments, the specific manner in which each module performs the operation has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0114] Figure 7 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 4. As shown in FIG. 4, the electronic device 400 includes: Figure 7

[0115] a memory 401 having a program executable stored thereon;

[0116] a processor 402 configured to execute the program executable in the memory 401 to implement the steps of the above-mentioned method.

[0117] As to the electronic device 400 in the above-mentioned embodiments, the specific manner in which the processor 402 executes the program in the memory 401 has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0118] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions easily conceived by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.​

Claims

1. A method for generating a concrete 3D printing process recipe, characterized in that, The method comprises the following steps: acquiring a three-dimensional digital model corresponding to a target printing object, and performing layer slicing processing on the three-dimensional digital model; for any slice layer obtained through the slicing processing, the following processing steps are performed: based on the setting characteristics of concrete, the slice layer pattern in the slice layer is subjected to combined segmentation processing to generate a pattern model corresponding to one-time printing output material, and the printing control mode of the slice layer is determined based on the generation result; a concrete 3D printing process scheme of the target printing object is generated according to the printing control mode of each slice layer; the combined segmentation processing of the slice layer pattern in the slice layer based on the setting characteristics of concrete to generate a pattern model corresponding to one-time printing output material and the determination of the printing control mode of the slice layer based on the generation result comprise the following steps: the printing time length required by each slice layer pattern is calculated and determined; based on the printing time length of each slice layer pattern, the slice layer patterns are divided into three categories, namely, I-class patterns, II-class patterns and III-class patterns, according to the setting support time parameter value and the initial setting time parameter value of concrete as the classification boundaries, the printing time length of the I-class patterns is less than or equal to the setting support time parameter value, the printing time length of the II-class patterns is greater than the setting support time parameter value and less than the initial setting parameter value, and the printing time length of the III-class patterns is greater than or equal to the initial setting parameter value, wherein the setting support time parameter value is less than the initial setting parameter value; for the slice layer patterns classified as I-class patterns, the patterns are combined in the vicinity, the printing time length of each combination is close to the initial setting parameter value, and each pattern combination is determined as a pattern model; for the slice layer patterns classified as II-class patterns, each pattern is determined as a pattern model; for the slice layer patterns classified as III-class patterns, the patterns are segmented, the printing time length of each sub-pattern obtained through the segmentation is close to the initial setting parameter value, and each sub-pattern is determined as a pattern model; based on the determined pattern models, the output control information in the printing control mode of the slice layer is generated.

2. The method according to claim 1, wherein the determination of the printing control mode of the slice layer based on the generation result further comprises the following steps: for each pattern model in the slice layer, the shortest printing path is planned to determine the printing path control information in the printing control mode of the slice layer.

3. The method according to claim 2, c h a r a c t e r i z e d b y the shortest printing path planning is performed based on a genetic algorithm.

4. The method of claim 1, wherein, the calculation and determination of the printing time length required by each slice layer pattern comprise the following processing steps for any slice layer pattern: the total printing length of the pattern is determined through analysis calculation on the slice layer pattern; the ratio of the total printing length to a preset printing speed value is calculated to obtain the printing time length of the slice layer pattern.

5. A concrete 3D printing recipe generation apparatus, characterized by, The method is applied to the concrete 3D printing process scheme generation method and the concrete 3D printing process scheme generation device, and the method comprises the following steps: an acquisition and layer processing module is configured to acquire a three-dimensional digital model corresponding to a target printing object, and perform layer slicing processing on the three-dimensional digital model; The printing mode determination module is configured to perform the following processing on each slice layer obtained by the slicing processing: based on the setting characteristics of the concrete, performing combined segmentation processing on the slice layer patterns in the slice layer to generate a pattern model corresponding to one-time printing of material, and determining the printing control mode of the slice layer based on the generation result. The scheme generation module is configured to generate a concrete 3D printing process scheme of the target printed object according to the printing control modes of the slice layers.

6. The concrete 3D printing process scheme generation device according to claim 5, characterized in that: The printing mode determination module is configured to perform the following processing steps on each slice layer obtained by the slicing processing: Calculate the printing time required for each slice layer pattern in the slice layer; According to the printing time of each slice layer pattern, taking the setting support time parameter value and the initial setting time parameter value of the concrete as the classification boundaries, each slice layer pattern is divided into: class I pattern with printing time less than or equal to the setting support time parameter value, class II pattern with printing time greater than the setting support time parameter and less than the initial setting parameter value, and class III pattern with printing time greater than or equal to the initial setting parameter value, wherein the setting support time parameter value is less than the initial setting parameter value; For the slice layer pattern classified as class I, perform pattern combination, so that the printing time of each combination is close to the initial setting parameter value, and each pattern combination is determined as a pattern model; For the slice layer pattern classified as class II, each pattern is determined as a pattern model; For the slice layer pattern classified as class III, perform pattern segmentation, so that the printing time of each sub-pattern obtained by segmentation is close to the initial setting parameter value, and each sub-pattern is determined as a pattern model; Based on the determined pattern models, generate the material output control information in the printing control mode of the slice layer.

7. An electronic device, comprising: Comprise: A memory having an executable program stored thereon; A processor configured to execute the executable program in the memory to implement the steps of the method of any one of claims 1-4.

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