Ecs-based building 3d printing line segment smooth transition control method and system

Abstract

The application discloses a kind of based on ECS's building 3D printing line segment smooth transition control method and system, method includes: obtaining the 3D model of entity to be printed, the position information of entity in world space, printing speed and acceleration, line segment information, printing path are analyzed;With ECS system in FVS filter mode, control printing equipment according to the information obtained to execute entity's field 3D printing, realize multi-line segment smooth transition printing.The algorithm and construction method of building 3D printing multi-line segment smooth transition based on ECS system provided by the present application can effectively solve the problem of line segment error caused by the outfeed end shaking of building 3D printing equipment when printing short and small multi-segment line contour, improve the smooth effect and aesthetic degree of printing line.At the same time, the algorithm and control system have the characteristics of intelligence, efficiency and stability, and are suitable for the field of building 3D printing.

Description

Technical Field

[0001] This invention relates to the field of architectural 3D printing, and specifically to a method and system for smooth transition control of line segments in architectural 3D printing based on ECS. Background Technology

[0002] The technological advantage of 3D printing is its ability to quickly print irregularly shaped curves or surfaces. However, the printing path files exported by current 3D printing slicing software are mostly multi-segment path files composed of discrete points. Due to the large working range of the XYZ axes in gantry-type printing equipment, the equipment vibrates severely when the walking transmission system executes short line segment walking commands. At the same time, most of the irregularly shaped curves printed are spline curves. In the NGC file of the printing path exported by the slicing software, the walking path is a short line segment. At the connection of the short line segments, the machine tool's Z-axis walking speed needs to undergo acceleration, deceleration, and rotation, resulting in stuttering and bulging phenomena. This leads to discontinuous Z-axis walking paths, affecting printing accuracy and the aesthetics of the lines.

[0003] The current conventional method involves approximating the outline of the required irregular component / part using arcs or long straight lines in drawing software, minimizing the number of short line segments to reduce the number of stuttering points (acceleration and deceleration during operation). However, this graphic processing process is cumbersome, time-consuming, and labor-intensive, and it imposes certain requirements on the external outline of the printed component, failing to meet the design needs of arbitrary lines and making it impossible to achieve printing construction with arbitrary line shapes. Therefore, it is necessary to design a graphic processing method that enables smooth transitions of multi-segment lines, achieving a smooth and stutter-free printing construction method for architectural 3D printing equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for smooth transition control of line segments in architectural 3D printing based on ECS, which can effectively solve the problem of line segmentation caused by material output jitter when printing short and multi-segment line contours in architectural 3D printing equipment, and improve the smoothness and aesthetics of printed lines.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A method for smooth transition control of multi-segment lines in architectural 3D printing based on an ECS system includes the following steps:

[0007] Obtain the 3D model of the entity to be printed, and analyze the entity's position information, printing speed and acceleration, line segment information, and printing path in world space;

[0008] Using the ECS system in FVS filter mode, the printing equipment is controlled to perform on-site 3D printing of entities based on the acquired information, achieving smooth transition printing of multi-segment elements, including...

[0009] By adding to the ECS system <fvs>The instruction introduces a new mode to address the problem of decreasing walking speed while reducing the motion cycle. This mode is called contouring mode or FVS filter mode. Its function is to change the pre-programmed trajectory in the program and control the CNC device to move more smoothly or faster at the corners.

[0010] The main code involved in this pattern is:<FVS:toll; crm; asse1; asse2;…> ,in:

[0011] toll: is the allowable tolerance on the profile. If it is programmed to be zero, the filter will not work.

[0012] crm: is the motion regularity coefficient, defined between 1 and 0; when crm=1, the maximum acceleration is reached, and the edge speed is usually much higher than the normally calculated speed, thus reducing the contour processing time; when crm=0, the acceleration on the edge will decrease, and the speed will be equal to the normally calculated speed, resulting in smoother motion; to maintain the normal edge speed throughout the motion cycle, crm=1 must be set.

[0013] asse1; asse2; ...: These are the axes for which this working mode is applied. They must all be either linear or rotary axes.

[0014] As a further aspect of the present invention, the location information of an entity in world space includes position, rotation, and scaling.

[0015] As a further aspect of the present invention, the printing device adopts multi-axis linkage control, and the printing speed and acceleration include the speed and acceleration of each motion axis.

[0016] As a further aspect of the present invention, the line segment information includes the starting point, ending point, and distance of each line segment.

[0017] As a further aspect of the present invention, the printing path includes information on multiple line segments.

[0018] As a further aspect of the present invention, in the step of performing on-site 3D printing of the entity, the FVS filter mode is activated when the starting point of each line segment is reached, and the FVS filter mode is deactivated when the ending point of each line segment is reached.

[0019] As a further aspect of the present invention, the method further includes the step of setting parameters for the filter mode, including the tolerance on the printed contour, the motion regularity coefficient ranging from 1 to 0, and the motion axis.

[0020] A multi-segment smooth transition control system for architectural 3D printing based on an ECS system is used to implement an ECS-based method for smooth transition control of line segments in architectural 3D printing; it includes:

[0021] The information import module connects to the modeling software to acquire the 3D model of the entity to be printed and analyzes the entity's position information, printing speed and acceleration, line segment information, and printing path in world space.

[0022] The printing control module, connected to the printing equipment, is used to control the printing equipment to perform on-site 3D printing of entities based on the acquired information in the FVS filter mode using the ECS system, achieving smooth transition printing of multiple line segments.

[0023] By adopting the above technical solution, the present invention has the following beneficial effects:

[0024] The algorithm and construction method for smooth transition of multi-segment lines in architectural 3D printing based on the ECS system provided by this invention can effectively solve the problem of line segmentation caused by material ejection jitter when printing short, multi-segment line contours in architectural 3D printing equipment, thereby improving the smoothness and aesthetics of printed lines. At the same time, the algorithm and control system are characterized by intelligence, high efficiency, and stability, making them suitable for the field of architectural 3D printing. Detailed Implementation

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below. The embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0026] This invention provides a method for controlling smooth transitions of line segments in architectural 3D printing based on ECS, which mainly includes the following steps:

[0027] Step 1: Obtain the 3D model of the entity to be printed, and analyze the entity's position information, printing speed and acceleration, line segment information, and printing path in world space;

[0028] CAD and BIM software can be used to create drawings and 3D models of physical buildings. During the drawing process, spline curves should be avoided as much as possible because printing equipment cannot reproduce them. Spline curves are typically replaced by numerous small line segments and rounded corners. This results in many short line segments in the printed drawings. When the printing equipment's movement system executes commands for these short line segments, the equipment experiences severe vibration. Furthermore, most of the irregularly shaped curves printed are spline curves. In the NGC file of the print path exported by the slicing software, the movement path consists of short line segments. At the connection points of these short line segments, the machine tool's Z-axis movement speed needs to undergo acceleration, deceleration, and cornering, leading to stuttering and bulging phenomena. This results in an inconsistent Z-axis movement path, affecting printing accuracy and the aesthetics of the lines.

[0029] Therefore, in order to solve the above problems, this embodiment of the invention uses an ECS system as the control system for the printing device, which is the second step below.

[0030] Step 2: Using the ECS system in FVS filter mode, the printing equipment is controlled to perform on-site 3D printing of the entity based on the acquired information, achieving smooth transition printing of multiple line segments.

[0031] The Electronics Control Systems (ECS) series, manufactured by BDF Digital in Italy, particularly the CNC900S series in the CNC field, boasts a versatile and high-performance architecture that makes it suitable for numerous applications: milling, turning, waterjet cutting, plasma / oxy-acetylene cutting, planar / pipe / 3D laser cutting, and sheet metal bending. Offering maximum speed and precision motion control combined with simple yet powerful programming capabilities, the CNC900S series is applicable to any type of machine tool.

[0032] In this embodiment, the example program based on the ECS system implements smooth walking of multiple small line segments, using the following components:

[0033] 1. Transform Component: Records the position information of an entity in world space, including position, rotation, and scaling.

[0034] 2. Velocity Component: Records the velocity of the entity, including the velocity in the x, y, and z directions.

[0035] 3. Acceleration Component: Records the acceleration of the entity, including acceleration in the x, y, and z directions.

[0036] 4. Line Segment Component: Records information about each small line segment, including the start point, end point, and distance of the segment.

[0037] 5. Path Component: Records the path that an entity needs to travel, including information about multiple line segments.

[0038] These components enable the analysis and recording of the building entity's location information in world space, printing speed and acceleration, line segment information, and printing path in the first step.

[0039] The printing equipment uses multi-axis linkage control, and the printing speed and acceleration include the speed and acceleration in the x, y, and z directions of each motion axis.

[0040] For irregular curve (spline curve) models, the printing path obtained after slicing is a path file that approximates the model outline with small line segments or short line segments and small arc segments. It is not possible to manually add transition chamfers between each instruction. Therefore, in this case, it is necessary to use the polyline smooth transition measures of the ECS system to achieve a smooth printing transition.

[0041] The present invention is implemented by adding [a feature] to the ECS system. <fvs>The instructions introduce a new mode to address the problem of decreasing walking speed while reducing the time cycle (tcyc). This mode is called Contornatura or FVS filter mode. Its function is to alter the pre-programmed trajectory and control the CNC device to move more smoothly or faster at corners.

[0042] The main code involved in this pattern is:<FVS:toll; crm; asse1; asse2;…> ,For example:<FVS:0.8;1;X;Y;Z> ,in:

[0043] toll: This is the allowable tolerance on the profile (mm / degree). If programmed to zero, the filter will not work (mode is not activated).

[0044] `crm`: This is the motion regularity coefficient, defined between 1 and 0. When `crm=1`, maximum acceleration is reached, and the edge velocity is typically much higher than the normally calculated velocity, thus reducing contour processing time. When `crm=0`, the acceleration on the edge decreases, and the velocity is equal to the normally calculated velocity, resulting in smoother motion. To maintain the normal edge velocity during TCYC, `crm=1` must be set.

[0045] asse1; asse2; ...: These are the axes for which this working mode is applied. They must all be either linear or rotary axes.

[0046] Based on the above methods, the final measures selected to achieve smooth transition of polylines are as follows (ECS system file modification):

[0047] <SIZ:XYW; <r911> ; <r912> ; <r913> ; <r914>;0;10>

[0048] <FVS:toll; crm; asse1; asse2;…>

[0049] <fvs:on>

[0050] N00 <IFF<%V1111> :N1;N1;N3>

[0051] 'Check if preview mode

[0052] N1 <tim:on>

[0053] N3 <IFF<%V1201.9> :N5;N5;N20>

[0054] ' Check if dry run is active

[0055] N5 <IFF<%V4178&'0001'> :N10;N10;N21>

[0056] 'Test if profile exit or retrace was performed': 0 = Profile exit performed; 1 = Retrace only

[0057] N10 <drf:off>

[0058] N11 <jmp:n21>

[0059] In this program<FVS:0.8;1;X;Y;Z> and <fvs:on>These are commands used to set the speed and acceleration of the motion axes. The other statements are instructions from the ECS source file when executing the 3D printing program. Here, X, Y, and Z represent the three motion axes; 0.8 and 1 represent the speed and acceleration scaling factors, respectively. They are typically used to control the speed and acceleration of the motion axes. In this type of equipment, precise trajectory tracking and position control are crucial, and the speed and acceleration of the motion axes are essential for this. Therefore, setting the speed and acceleration of the motion axes before each printing operation is very important.

[0060] By using <fvs>The instructions introduce a new mode to address the problem of decreasing walking speed while reducing the time cycle (tcyc). This mode is called Contornatura or FVS filter mode. Its function is to alter the pre-programmed trajectory and control the CNC device to move more smoothly or faster at corners.

[0061] To enable this mode, you need to use the command. <fvs:on>Use instructions <fvs:off>This mode can be disabled. To confirm whether this mode is enabled, you need to check if the hexadecimal value 8 is contained in the bitmap of the %V1913 variable.

[0062] exist <fvs>In the command, the first parameter, `toll`, represents the allowable contour deviation; if set to 0, this mode is inactive. The second parameter, `crm`, is the coefficient of regularity of motion, ranging from 0 to 1. When `crm=1`, the device can reach maximum acceleration, and the corner cutting speed is typically higher than the normal speed calculation, thus reducing contouring time. When `crm=0`, corner acceleration is reduced, the corner cutting speed is the same as the normal speed, and the device movement is smoother. To ensure the corner cutting speed remains constant, `crm` should be set to 1. It can be extended to an upper limit of 1.5, but should avoid exceeding 1.5 times the acceleration scale.

[0063] exist <fvs>In the command, the following parameters asse1, asse2, ... are the axes to which this strategy will be applied. These axes must be CNC axes (not independent axes) and have TYP=INC or TYP=IGR. If this strategy is used multiple times within a single program...<FVS:...> In FVS filter mode, only the axis in the last instruction containing at least one axis will be used; axes used in previous instructions will no longer be FVS axes.

[0064] If a program block contains instructions that include both FVS axes and other CNC axes, the program block will be processed with crm = 0 to avoid applying too much acceleration to unfiltered axes.

[0065] Building upon this, a smooth transition of polylines was achieved, eliminating breakpoint jitter on the printing axis. However, in cases where the local arc is extremely small, the arc path becomes a complete circle (○), which does not conform to the optimal printing path. The improvement measure to address this is to modify the SGLG=n parameter value. This parameter represents the distance constraint between the extreme points of the circle; under this constraint, two points are considered to coincide, and the circle is covered by a complete rotation. SGLG is expressed in micrometers, with a default value of 50, and can take values ​​between 0 and 999. Modifying the GEN.TAR file to SGLG=1 eliminates this phenomenon, thus ensuring a smooth transition of polylines and optimized printing path.

[0066] Furthermore, in the second step of the ECS-based architectural 3D printing line segment smooth transition control method of this invention, the on-site 3D printing of the entity can also employ the following approach: when the starting point of each line segment is reached, the FVS filter mode is activated, and when the ending point of each line segment is reached, the FVS filter mode is deactivated. Alternatively, the FVS filter mode can be activated throughout the entire printing process.

[0067] This invention also provides an ECS-based smooth transition control system for architectural 3D printing lines to achieve the aforementioned ECS-based smooth transition control method for architectural 3D printing lines. The system includes the following modules:

[0068] The information import module connects to the modeling software to acquire the 3D model of the entity to be printed and analyzes the entity's position information, printing speed and acceleration, line segment information, and printing path in world space.

[0069] The printing control module, connected to the printing equipment, is used to control the printing equipment to perform on-site 3D printing of entities based on the acquired information in the FVS filter mode using the ECS system, achieving smooth transition printing of multiple line segments.

[0070] The algorithm and construction method for smooth transition of multi-segment lines in architectural 3D printing based on the ECS system provided by this invention can effectively solve the problem of line segmentation caused by material ejection jitter when printing short, multi-segment line contours in architectural 3D printing equipment, thereby improving the smoothness and aesthetics of printed lines. At the same time, the algorithm and control system are characterized by intelligence, high efficiency, and stability, making them suitable for the field of architectural 3D printing.

[0071] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.< / fvs> < / fvs> < / fvs:off> < / fvs:on> < / fvs> < / fvs:on> < / drf:off> < / tim:on> < / fvs:on> < / r913> < / r912> < / r911> < / fvs> < / fvs>

Claims

1. A method for controlling smooth transition of a building 3D printing line segment based on ECS, characterized in that, It comprises the following steps: acquiring a 3D model of an entity to be printed, analyzing position information of the entity in a world space, printing speed and acceleration, line segment information, and a printing path; controlling a printing device to perform on-site 3D printing of the entity according to the acquired information in an FVS filter mode of an ECS system, and realizing smooth transition printing of multiple line segments, including In the ECS system by adding <fvs>an instruction introducing a new mode to solve the problem of increasingly low walking speed while reducing the motion cycle, the mode being referred to as a contouring mode or FVS filter mode, the mode serving to change a preprogrammed trajectory in a program and control the CNC device to move more smoothly or more quickly at a corner;< / fvs> the mode mainly involving the code: <FVS: toll; crm; asse1; asse2;…>, wherein: toll: is a tolerance allowed on a contour, if programmed as zero, the filter will not work; crm: is a regularity coefficient of motion, defined in a range of 1 to 0; when crm=1, the maximum acceleration is reached, the edge speed is usually much higher than the normally calculated speed, thus the contour processing time is reduced; when crm=0, the acceleration on the edge is reduced, and the speed is equal to the normally calculated speed, the effect being that the motion is more smooth; to always maintain the normally edge speed when the motion cycle occurs, crm must be set to 1; asse1; asse2;…: these are axes to which this working mode is applied, they must all be linear axes or rotary axes.

2. The ECS-based building 3D printing line segment smooth transition control method of claim 1, wherein, The position information of the entity in the world space includes position, rotation, and scaling. 3.The ECS-based building 3D printing line segment smooth transition control method of claim 1, wherein, The printing speed and acceleration include the speed and acceleration of each motion axis. 4.The ECS-based building 3D printing line segment smooth transition control method of claim 1, wherein, The line segment information includes the start point, end point, and distance of each line segment.

5. The ECS-based building 3D printing line segment smooth transition control method of claim 1, wherein, The printing path includes information of multiple line segments. 6.The ECS-based building 3D printing line segment smooth transition control method of claim 1, wherein, In the step of performing on-site 3D printing of the entity, the FVS filter mode is started when the start point of each line segment is reached, and the FVS filter mode is closed when the end point of each line segment is reached.

7. The ECS-based building 3D printing line segment smooth transition control method according to any one of claims 1-6, characterized in that, It further comprises the step of setting parameters of the FVS filter mode, including a tolerance running on a printing contour, a motion regularity coefficient in a range of 1 to 0, and motion axes.

8. An ECS-based building 3D printing line segment smooth transition control system for implementing the ECS-based building 3D printing line segment smooth transition control method of any one of claims 1-7; characterized in that, It comprises: an information import module connected with a modeling software, used for acquiring a 3D model of an entity to be printed, analyzing position information of the entity in a world space, printing speed and acceleration, line segment information, and a printing path; a printing control module connected with a printing device, used for controlling the printing device to perform on-site 3D printing of the entity according to the acquired information in an FVS filter mode of an ECS system, and realizing smooth transition printing of multiple line segments.