Concrete 3D printing complex pattern path motion control method, medium and equipment

Abstract

The application discloses a concrete 3D printing complex pattern path motion control method, medium and equipment, and belongs to the field of 3D printing.The application fully considers the specific line width when concrete is discharged, expands the width of the printing path line segment to form a rectangular printing area, determines the printing coverage by calculating the coordinates of the four vertexes of the rectangular section, judges the overlapping and intersecting area, and optimizes the printing path.The application is aimed at some special parts with complex paths, small printing line width and small line width ratio, and the printing path and the feeding coefficient are calculated, controlled and optimized, so that the concrete component finished product obtained by printing is more fine in details, more perfect in smoothness, and more practical and appreciable in works.

Description

Technical Field

[0001] This invention belongs to the field of 3D printing, specifically relating to a method for motion control of complex graphic paths in concrete 3D printing. Background Technology

[0002] 3D printing (3DP), also known as additive manufacturing, is a rapid prototyping technology. It is a technology that uses digital model files as a basis and employs powdered metal or adhesive materials such as plastic and concrete to construct objects by printing layer by layer.

[0003] 3D printing is typically achieved using digital material printers. It is commonly used in mold making and industrial design to create models, and is increasingly being applied to the direct manufacturing of some products; parts printed using this technology already exist. This technology has applications in jewelry, footwear, industrial design, architecture, engineering and construction (AEC), automotive, aerospace, dental and medical industries, education, geographic information systems, civil engineering, firearms, and other fields.

[0004] 3D printing principle: The printing process begins with a computer-aided design of a 3D model of the desired part. This model is then discretized into a series of ordered units, typically along the Z-axis with a specific thickness, transforming the original 3D CAD model into a series of layers. Next, based on the contour information of each layer, processing parameters are input, and the system automatically generates CNC code. Finally, the series of layers are formed and automatically connected to create a single 3D physical entity. Printing materials can include various substances such as plastics, metals, and ceramics.

[0005] Because slicing software designs each layer as an outline during the design phase, meaning that at any position on a layer, the computer assumes that it is surrounded by inner and outer walls, printing requires positioning and printing on both the outer and inner walls separately. This method works perfectly for printing conventional materials such as plastics and metals, which use lightweight, fine-diameter, and easily solidified printing materials. However, with the application of 3D printing technology in the construction field, especially with concrete as the printing base material, traditional slicing printing technology encounters several practical problems during the printing process: 1. Concrete has a long solidification time. Even with the addition of some early-setting materials, the initial solidification time is still several hours, making it difficult to form quickly. To achieve the desired printing effect, the printing speed needs to be slowed down; 2. Concrete aggregate is prone to clogging. Due to the material properties of concrete, during transportation, if it encounters dead corners, some aggregate will settle and clog the pipes. Therefore, there is a requirement to print and use the concrete as soon as possible after mixing, which contradicts the previous requirement; 3. To solve this contradiction, the printing pump head should not be too small, requiring a larger discharge diameter. Therefore, concrete printing pump heads are basically at the centimeter level. However, when printing some finer non-linear components (such as window grilles, lettering, etc.), the required line diameter is small. According to traditional slicing technology, printing always requires two lines, one on the inner wall and one on the outer wall. The printing path is actually overlapping, which means either repeated material feeding or repeated positioning. This results in a significant reduction in printing effect or wasted time in some complex lines, especially in areas with small line diameters. In addition, when encountering some lines that are too thin, overlapping, or intersecting during the printing process, it can cause the concrete material to pile up (due to factors such as low concrete moisture content or long setting time) or collapse (due to factors such as high concrete moisture content or short setting time). Therefore, the printing detail effect is not ideal.

[0006] Therefore, we need to develop concrete 3D printing equipment. In particular, when calculating and controlling the motion of complex graphic paths, we need to make full use of existing traditional slicing software technology and, based on the characteristics of concrete materials and printing requirements, perform some slicing and deduplication optimization calculations for some detailed parts, overlapping parts, and intersections that highlight precision. This will avoid the adverse phenomena of repeated calculations, empty strokes and repeated positioning, and avoid the occurrence of concrete supply or non-supply at intersections and overlapping parts. Only then can the effect of the concrete material printed components be greatly improved. Summary of the Invention

[0007] The purpose of this invention is to solve the problem of poor printing effect of complex graphic components in the concrete 3D printing process, and to provide a method for controlling the path motion of complex graphics in concrete 3D printing.

[0008] The specific technical solution adopted in this invention is as follows:

[0009] In a first aspect, the present invention provides a method for motion control of complex graphic paths in concrete 3D printing, comprising:

[0010] S1. Each slice of graphic to be input into the concrete 3D printing equipment is segmented into paths. Each path is simplified into a straight path segment, and the starting coordinates and ending coordinates of each straight path segment are calculated based on a fixed image origin.

[0011] S2. Obtain the print head parameters used to print each slice image, determine its print line width, and initialize the print line width of all straight path segments in each slice image to the print line width of the print head.

[0012] S3. For each slice graphic, expand the width of each straight path segment formed after path segmentation according to the corresponding printing line width, so that each straight path segment forms a rectangular printing area with the straight path segment as the center line, the width equal to the printing line width, and the length equal to the length of the straight path segment. Record the coordinates of the four corner points of each rectangular printing area.

[0013] S4. Optimize the printing path for each slice graphic. During optimization, first, shrink each rectangular printing area formed after the width expansion along both the length and width directions to form a shrunken rectangular area smaller than the original rectangular printing area. Then, iterate through all the shrunken rectangular areas pairwise to determine whether there is any overlap between any two shrunken rectangular areas, and perform different optimization operations based on the determination results:

[0014] If there are no intersecting or overlapping areas between the two indented rectangle regions being traversed, then the corresponding straight line path segments are determined to be non-similarity repeating line segments, and no processing is performed.

[0015] If the two indented rectangular regions being traversed completely overlap, then the corresponding straight path segments are determined to be coincident. In the sliced ​​graphic, the two straight path segments are merged into one segment, and the printing line width of this segment remains unchanged.

[0016] If there is partial or incomplete overlap between the two indented rectangular regions being traversed, the angle between the corresponding straight path segments is further calculated. If the angle is less than the preset angle threshold, the two straight path segments are considered to be in the same direction, and the two straight path segments are merged into one segment. At the same time, the printing line width of this segment is adaptively increased according to the proportion of the overlapping area of ​​the two indented rectangular regions. If the angle is not less than the preset angle threshold, the two straight path segments are considered to intersect. The two straight path segments are segmented based on the overlapping area of ​​the two indented rectangular regions. The two paths falling within the overlapping area are extracted separately and merged into one segment, and the printing line width of this segment remains unchanged.

[0017] S5. The optimized printing paths of each slice graphic are fed into the concrete 3D printing equipment for printing.

[0018] Preferably, in step S4, when performing inward shrinking on each rectangular printing area, the rectangular printing area is symmetrically shrunk inward by 3-5 mm along both the length and width directions, and the center of the rectangle remains unchanged after shrinking.

[0019] Preferably, in step S4, the preset included angle threshold is 5 to 15°.

[0020] Preferably, the preset included angle threshold is less than 10°.

[0021] Preferably, in step S4, when the printing line width of this path is adaptively increased according to the proportion of the overlapping area of ​​the two indented rectangular regions, the larger the proportion of the overlapping area of ​​the two indented rectangular regions to the total area of ​​the two indented rectangular regions, the smaller the increase in the printing line width, and vice versa.

[0022] Preferably, in step S4, the increase ratio of the printed line width is between 1.0 and 2.0.

[0023] Preferably, in step S4, after the increase in the printing line width ratio, the concrete 3D printing equipment needs to adjust the movement path and speed of the printing nozzle or change the material supply to change the printing line width when printing this section of the path.

[0024] Preferably, in step S4, if the increase ratio of the printed line width is not less than 1.5, the unit output amount is reduced while controlling the dual-path movement of the inner and outer sides of the print head to achieve the effect of setting the printed width and thickness. If the increase ratio of the printed line width is less than 1.5, the print head is controlled to adopt a single-path movement while increasing the unit output amount to achieve the effect of setting the printed width and thickness.

[0025] In a second aspect, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the concrete 3D printing complex graphic path motion control method as described in any of the solutions of the first aspect above.

[0026] In a second aspect, the present invention provides a computer electronic device, which includes a memory and a processor;

[0027] The memory is used to store computer programs;

[0028] The processor is configured to, when executing the computer program, implement the concrete 3D printing complex graphic path motion control method as described in any of the first aspects above.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] This invention targets special parts with complex paths and lines that are smaller than the printed line width. By calculating, controlling, and optimizing the printing path and material supply coefficient, the printed concrete components are more refined in detail, smoother, and have greater practical and aesthetic value.

[0031] When the concrete 3D printing equipment feeding system is working, this invention fully considers the specific output amount of concrete and has a relatively specific line width. The line segment can be widened to form a rectangular printing area. By calculating the coordinates of the four vertices of the rectangular cross-section, the printing coverage area is determined, thereby identifying overlapping and intersecting areas and optimizing the printing path.

[0032] This invention recalculates and allocates adjacent paths when calculating a specific motion path, merging partially overlapping paths to form a new path. Simultaneously, this invention allows for free adjustment of the material output of the feeding system. By adjusting the output and coordinating it with the printing speed, the printing line width can be changed accordingly. The printing path and line width are thus optimized to achieve the goal of optimizing both the printing path and the printing line width. Attached Figure Description

[0033] Figure 1 A flowchart illustrating the steps of a method for controlling the motion path of complex graphics in concrete 3D printing.

[0034] Figure 2 This is a schematic diagram showing the path extending into a rectangle along its width.

[0035] Figure 3 A schematic diagram showing the shrinkage of the rectangular printing area;

[0036] Figure 4 This is a schematic diagram showing the included angle between two rectangular regions;

[0037] Figure 5 This is a schematic diagram of a window decoration pattern slice to be printed in an example;

[0038] Figure 6 for Figure 5 A partially enlarged schematic diagram of the slice pattern;

[0039] Figure 7 The print quality before optimization;

[0040] Figure 8 This is the optimized printing result. Detailed Implementation

[0041] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Technical features in the various embodiments of the present invention can be combined accordingly without mutual conflict.

[0042] In the process of controlling the three-dimensional movement and output of a 3D printing feeding system, to avoid unreasonable phenomena such as repeated calculations, overlapping, or supply interruptions in the travel path and feeding quantity, especially for some printing models with small wire diameters and complex graphics, this invention provides a method for controlling the path movement of complex graphics in concrete 3D printing. Its core is to overcome the drawbacks of conventional separate inner and outer wall movement feeding during the graphic slicing stage by introducing a printing linewidth variation factor parameter. For overlapping sections of the path, instead of using perfectly parallel line segments, angle conditions are added for line segment selection to determine whether two paths overlap or whether a certain section overlaps. Based on this, the overlapping area of ​​the original two paths is precisely calculated to obtain a new motion path design and feeding quantity design. This achieves the merging and optimization of the inner and outer wall movement paths for complex graphics, especially those with small wire diameters, and introduces a feeding coefficient. By optimizing the printing route and ensuring that the printing wire diameter reaches the predetermined value, the printing time is saved while the printing quality is significantly improved.

[0043] like Figure 1 As shown, in a preferred embodiment of the present invention, a specific implementation of the above-mentioned method for controlling the motion of complex graphic paths in concrete 3D printing is provided. The specific implementation steps of the method are as follows:

[0044] S1. Each slice of graphic to be input into the concrete 3D printing equipment is segmented into paths. Each path is simplified into a straight path segment, and the starting coordinates and ending coordinates of each straight path segment are calculated based on a fixed image origin.

[0045] It should be noted that the specific form of the concrete 3D printing equipment in this invention is not limited and can be implemented using any existing technology. At the beginning of printing, this invention selects a target printing pattern, i.e., the pattern of the concrete component to be printed. The pattern before slicing is generally a three-dimensional model. Slicing can be performed along the height direction to form a series of sliced ​​graphics. Simultaneously, the slicing software plans the printing path corresponding to each sliced ​​image. During actual concrete printing, the complex printing path is segmented into a series of smaller path segments. Even if the original path is curved, when each segmented path is small enough, it can be approximated as a straight path segment. However, it should be noted that the specific segment length can be optimized according to different patterns and is not specifically limited. Each sliced ​​image can be set with an image origin to determine the starting and ending coordinates of each straight path segment. The image origin can be selected from the upper left corner vertex of the image or other vertices.

[0046] S2. Obtain the print head parameters used to print each slice image, determine its print line width, and initialize the print line width of all straight path segments in each slice image to the print line width of the print head.

[0047] It should be noted that the printhead used for each slice of graphic needs to be optimized based on the actual printing effect of the pattern. Once the printhead parameters are determined, its print linewidth can be determined. Without subsequent optimization, the print linewidth of straight path segments is initialized to the printhead's print linewidth. However, since printing concrete at some overlapping areas using this initial print linewidth will result in poor detail, the print linewidth of some straight path segments will be optimized.

[0048] S3. For each slice graphic, expand the width of each straight path segment formed after path segmentation according to the corresponding printing line width, so that each straight path segment forms a rectangular printing area with the straight path segment as the center line, the width equal to the printing line width, and the length equal to the length of the straight path segment. Record the coordinates of the four corner points of each rectangular printing area.

[0049] The initial print path planned by the slicing software is the movement path of the print head, which is generally a line with no width. However, during actual printing, because the print head has a printing width, a rectangular printing area will be formed. For example... Figure 2As shown, the arrow points to a schematic diagram of expanding a straight path into a rectangular area. When concrete materials that cannot solidify quickly encounter complex printing paths, the printing width can easily lead to poor printing results in detailed areas. Therefore, this invention, considering the characteristics of concrete materials and printing requirements, performs slicing and deduplication optimization calculations for precision-critical areas such as details, overlapping areas, and intersections. This avoids redundant calculations, unnecessary repetitive movement, and prevents the supply or non-supply of concrete at overlapping and intersecting areas, thus significantly improving the quality of the printed components.

[0050] In this invention, each straight path segment needs to be widened and treated as a rectangular printing area in the actual printing process. The coordinates of the four corner points of each rectangular printing area are recorded to determine whether there is overlap between different straight path segments. However, it should be noted that due to printing errors and the characteristics of concrete materials, the topology of the rectangular printing area cannot be directly used to determine whether there is overlap. Additional processing is needed for some special cases. For example, if two rectangular printing areas only overlap on one side or partially overlap, this can be disregarded in practice. Another example is that although two rectangular printing areas overlap, their intersection is not obvious but rather a shallow, approximately parallel intersection. In this case, the printing width can be widened to print them all at once without deduplication. Therefore, subsequent optimization of the printing path is required for each slice graphic. Different optimization strategies will be explained in detail below.

[0051] S4. Optimize the printing path for each slice graphic. During optimization, first, shrink each rectangular printing area formed after width expansion along both length and width directions to create a smaller shrunken rectangular area compared to the original rectangular printing area. Then, iterate through all shrunken rectangular areas pairwise, determining whether any two shrunken rectangular areas overlap, and perform one of three different optimization operations (a) to (c) based on the determination result.

[0052] a) If there are no intersecting or overlapping areas between the two indented rectangle regions being traversed, then the corresponding straight line path segments are determined to be non-similarity repeating line segments, and no processing is performed.

[0053] b) If the two indented rectangle regions being traversed completely overlap, then determine that the corresponding straight path segments of the two overlap, merge the two straight path segments into one segment in the slice graphic, and keep the printed line width of this segment unchanged.

[0054] c) If there is partial or incomplete overlap between the two indented rectangular regions being traversed, the angle between the corresponding straight path segments is further calculated. If the angle is less than the preset angle threshold, the two straight path segments are considered to be in the same direction, and the two straight path segments are merged into one segment. At the same time, the printing line width of this segment is adaptively increased according to the proportion of the overlapping area of ​​the two indented rectangular regions. If the angle is not less than the preset angle threshold, the two straight path segments are considered to intersect. The two straight path segments are segmented based on the overlapping area of ​​the two indented rectangular regions. The two paths falling within the overlapping area are extracted separately and merged into one segment, and the printing line width of this segment remains unchanged.

[0055] It should be noted that when performing the inward reduction process on each rectangular printing area in this step, the rectangular printing area needs to be reduced in both the length and width directions. The specific reduction dimensions can be reasonably controlled based on objective specific factors such as the actual width of the printing linewidth, the particle size of the printing aggregate, the water-cement ratio, and the desired printing accuracy. In the embodiment of this invention, the rectangular printing area is symmetrically reduced inward by 3-5mm in both the length and width directions, and the center of the rectangle remains unchanged after the reduction. Figure 3 The diagram shows two forms of rectangular printing area shrinkage, with the arrows indicating the shrinkage direction.

[0056] Furthermore, in section c) above, which addresses situations where two rectangles partially or completely overlap, the condition for determining overlapping line segments is not based on perfectly parallel line segments. Line segments within a certain angular range are considered to have the same direction. For example... Figure 4The diagram illustrates the angle between two rectangles when they partially or completely overlap. If this angle is too small, they can be considered to be in the same direction and can be merged for printing. Therefore, for two line segments determined to be in the same direction, the overlapping area of ​​their corresponding rectangular printing regions is calculated, and the line segments in the same direction are merged to form a single line segment of equal width. Based on the proportion of the overlapping area, a material feeding parameter is introduced to specifically set the movement path and material feeding quantity for that particular line segment. This does not refer to using perfectly parallel line segments as the condition for judging overlapping line segments, but rather to two line segments being judged as parallel within a certain angle range. In actual printing, based on objective factors such as the actual width of the printed line, the particle size of the printed aggregate, and the water-cement ratio, as well as subjective factors such as desired printing accuracy and desired printing time, the theoretical angle threshold for judging whether two line segments are parallel can be set within the range of 0–90°. However, after optimization, it is found that a preset angle threshold α of 5–15° is preferable, and less than 10° is even better. If the included angle is less than the preset included angle threshold α, the two straight path segments are directly considered to have the same direction and are merged into one segment without repeated printing. However, since the two are not actually completely overlapping, the width to be printed is larger than that of other straight path segments. Therefore, the printing line width of this segment needs to be adaptively increased according to the proportion of the overlapping area of ​​the two recessed rectangular regions. In the embodiments of the present invention, when adaptively increasing the printing line width of this segment according to the proportion of the overlapping area of ​​the two recessed rectangular regions, the larger the proportion of the overlapping area of ​​the two recessed rectangular regions to the total area of ​​the two recessed rectangular regions, the smaller its theoretical width on the plane should be, and the smaller the corresponding increase ratio of the printing line width. Conversely, the smaller the proportion of the overlapping area of ​​the two recessed rectangular regions to the total area of ​​the two recessed rectangular regions, the larger its theoretical width on the plane should be, and the larger the corresponding increase ratio of the printing line width should be. In actual printing, the ratio of the new line width generated after merging to the printing line width can be set by the user based on specific factors such as the actual width of the printing line width, the particle size of the printed aggregate, and the water-cement ratio. In the embodiments of the present invention, the increase ratio of the printing line width is between 1.0 and 2.0.

[0057] Furthermore, it should be noted that as the increase in the printing linewidth ratio increases, the concrete 3D printing equipment needs to adjust the movement path and speed of the printing nozzle or change the material feed rate to alter the printing linewidth when printing this section of the path. In one embodiment of the present invention, the following control strategy is preferably adopted: if the increase in printing linewidth ratio is not less than 1.5, the unit material feed rate is reduced while controlling the dual-path movement of the inner and outer sides of the printing nozzle to achieve the set printing width and thickness effect; if the increase in printing linewidth ratio is less than 1.5, the printing nozzle is controlled to use a single-path movement while increasing the unit material feed rate to achieve the set printing width and thickness effect.

[0058] S5. The optimized printing paths of each slice graphic are fed into the concrete 3D printing equipment for printing.

[0059] It should be noted that the specific printing control process in concrete 3D printing equipment is existing technology. When executing printing commands, it generally follows the traditional printing slicing concept, using conventional concrete materials, and appropriately selecting concrete aggregates, water-cement ratios, accelerators, and crack-resistant fibers for printing finished concrete components. In this invention, the printing nozzle can be controlled to print layer by layer according to the optimized printing path, and the printing width of each path segment is determined based on the optimized width.

[0060] In one example of the present invention, when printing as... Figure 5 When printing the window lattice pattern shown, directly printing without optimizing the print path results in poor print quality, such as... Figure 6 As shown. Zooming in on the detailed path reveals... Figure 7 The diagram shows multiple instances where auxiliary supplementary lines overlap with the base lines, consistent with the actual damaged areas printed out. However, after optimization using this invention, as shown... Figure 8 As shown, its printing effect is more delicate and can meet the needs of practical applications.

[0061] It should be noted that the control methods S1 to S5 described above can essentially be implemented using a computer control program. Therefore, based on the same inventive concept, another preferred embodiment of the present invention also provides an electronic device corresponding to the concrete 3D printing complex graphic path motion control method provided in the above embodiments, which includes a memory and a processor;

[0062] The memory is used to store computer programs;

[0063] The processor is configured to implement the concrete 3D printing complex graphic path motion control method described in any of the foregoing embodiments when executing the computer program.

[0064] Furthermore, the logical instructions in the aforementioned memory can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0065] Therefore, based on the same inventive concept, another preferred embodiment of the present invention also provides a computer-readable storage medium corresponding to the concrete 3D printing complex graphic path motion control method provided in the above embodiments. The storage medium stores a computer program, which, when executed by a processor, can realize the concrete 3D printing complex graphic path motion control method described in any of the foregoing embodiments.

[0066] Specifically, in the computer-readable storage medium of the two embodiments described above, the stored computer program is executed by a processor, which can perform the aforementioned steps S1 to S5.

[0067] It is understood that the aforementioned storage media may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Furthermore, the storage media may also be various media capable of storing program code, such as USB flash drives, external hard drives, magnetic disks, or optical discs.

[0068] It is understood that the processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0069] It should also be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the system described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. In the embodiments provided in this application, the division of steps or modules in the system and method is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple modules or steps may be combined or integrated together, and a module or step may also be split.

[0070] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all technical solutions obtained through equivalent substitution or transformation fall within the protection scope of the present invention.

Claims

1. A method for controlling the motion of complex graphic paths in concrete 3D printing, characterized in that, include: S1. Each slice of graphic to be input into the concrete 3D printing equipment is segmented into paths. Each path is simplified into a straight path segment, and the starting coordinates and ending coordinates of each straight path segment are calculated based on a fixed image origin. S2. Obtain the print head parameters used to print each slice image, determine its print line width, and initialize the print line width of all straight path segments in each slice image to the print line width of the print head. S3. For each slice graphic, expand the width of each straight path segment formed after path segmentation according to the corresponding printing line width, so that each straight path segment forms a rectangular printing area with the straight path segment as the center line, the width equal to the printing line width, and the length equal to the length of the straight path segment. Record the coordinates of the four corner points of each rectangular printing area. S4. Optimize the printing path for each slice graphic. During optimization, first, shrink each rectangular printing area formed after the width expansion along both the length and width directions to form a shrunken rectangular area smaller than the original rectangular printing area. Then, iterate through all the shrunken rectangular areas pairwise to determine whether there is any overlap between any two shrunken rectangular areas, and perform different optimization operations based on the determination results: If there are no intersecting or overlapping areas between the two indented rectangle regions being traversed, then the corresponding straight line path segments are determined to be non-similarity repeating line segments, and no processing is performed. If the two indented rectangular regions being traversed completely overlap, then the corresponding straight path segments are determined to be coincident. In the sliced ​​graphic, the two straight path segments are merged into one segment, and the printing line width of this segment remains unchanged. If there is partial or incomplete overlap between the two indented rectangular regions being traversed, the angle between the corresponding straight path segments is further calculated. If the angle is less than the preset angle threshold, the two straight path segments are considered to be in the same direction, and the two straight path segments are merged into one segment. At the same time, the printing line width of this segment is adaptively increased according to the proportion of the overlapping area of ​​the two indented rectangular regions. If the angle is not less than the preset angle threshold, the two straight path segments are considered to intersect. The two straight path segments are segmented based on the overlapping area of ​​the two indented rectangular regions. The two paths falling within the overlapping area are extracted separately and merged into one segment, and the printing line width of this segment remains unchanged. S5. The optimized printing paths of each slice graphic are sent into the concrete 3D printing equipment for printing. In S4, when performing inward shrinking processing on each rectangular printing area, the rectangular printing area is symmetrically shrunk inward by 3~5 mm along the length and width directions respectively, and the center of the rectangle remains unchanged after shrinking. In step S4, when the printing line width of this path is adaptively increased according to the proportion of the overlapping area of ​​the two indented rectangular regions, the larger the proportion of the overlapping area of ​​the two indented rectangular regions to the total area of ​​the two indented rectangular regions, the smaller the increase in the printing line width, and vice versa.

2. The method for controlling the motion of complex graphic paths in concrete 3D printing as described in claim 1, characterized in that, In S4, the preset included angle threshold is 5~15°.

3. The method for controlling the motion of complex graphic paths in concrete 3D printing as described in claim 2, characterized in that, The preset included angle threshold is less than 10°.

4. The method for controlling the motion of complex graphic paths in concrete 3D printing as described in claim 1, characterized in that, In S4, the increase ratio of the printed line width is between 1.0 and 2.

0.

5. The method for controlling the motion of complex graphic paths in concrete 3D printing as described in claim 1, characterized in that, In S4, after the increase in the printing line width ratio, the concrete 3D printing equipment needs to adjust the movement path and speed of the printing nozzle or change the material supply to change the printing line width when printing this section of the path.

6. The method for controlling the motion of complex graphic paths in concrete 3D printing as described in claim 5, characterized in that, In step S4, if the increase ratio of the printed line width is not less than 1.5, the unit output amount is reduced by controlling the dual-path movement of the inner and outer sides of the print head to achieve the effect of setting the printed width and thickness. If the increase ratio of the printed line width is less than 1.5, the print head is controlled to adopt a single-path movement while increasing the unit output amount to achieve the effect of setting the printed width and thickness.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the complex graphic path motion control method for concrete 3D printing as described in any one of claims 1 to 6.

8. A computer electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the complex graphic path motion control method for concrete 3D printing as described in any one of claims 1 to 6 when executing the computer program.

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