Print path planning method and device, electronic equipment and computer storage medium

Abstract

The present disclosure provides a printing path planning method and device, electronic equipment and computer storage medium, belonging to the field of additive manufacturing technology. The method comprises: dividing a forming web to be printed into a plurality of grids; determining a galvanometer capable of scanning a first grid as a candidate galvanometer of the first grid during movement of a galvanometer system, the first grid being any grid in the plurality of grids; determining a printing galvanometer and an actual start printing time of each grid according to the candidate galvanometer corresponding to each grid, the printing order of the grids included in each row, the printing time required by each grid, and the movement speed of the galvanometer system; starting printing by the corresponding printing galvanometer at the actual start printing time of each grid until the printing of all grids is completed. The method can plan a printing path of the forming web in the case of movement of the galvanometer system.

Description

Technical Field

[0001] This disclosure relates to the field of additive manufacturing technology, and in particular to a printing path planning method, apparatus, electronic device, and computer storage medium. Background Technology

[0002] A galvanometer, also called a laser scanner, typically consists of an XY optical scanning head, an electronic drive amplifier, and optical reflecting mirrors. Signals from a computer controller drive the optical scanning via a drive amplifier circuit, thereby controlling the deflection of the laser beam in the XY plane.

[0003] In traditional printing equipment, the position of the galvanometer system is fixed, and the printing path for the entire forming area is planned according to the coverage area of ​​each galvanometer. However, in printing equipment with a movable galvanometer system, the coverage area of ​​each galvanometer moves along with the galvanometer system. In this case, the traditional printing path planning is no longer applicable. Summary of the Invention

[0004] This disclosure provides a printing path planning method, apparatus, electronic device, and computer storage medium; capable of planning the printing path of the forming area while the galvanometer system moves.

[0005] The technical solution disclosed herein is implemented as follows:

[0006] In a first aspect, this disclosure provides a printing path planning method, which includes: dividing the desired printing area into multiple grids; during the movement of the galvanometer system, determining the galvanometers that can scan the first grid as candidate galvanometers for the first grid, wherein the first grid is any grid among the multiple grids; determining the printing galvanometer and the actual start time of each grid based on the candidate galvanometers corresponding to each grid, the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system; and starting printing through the corresponding printing galvanometer at the actual start time of each grid until the printing of all grids is completed.

[0007] Secondly, this disclosure provides a printing path planning device, comprising: a dividing section, a determining section, and a printing section; the dividing section is configured to divide the desired printing area into multiple grids; the determining section is configured to, during the movement of the galvanometer system, determine the galvanometers capable of scanning a first grid as candidate galvanometers for the first grid, wherein the first grid is any one of the multiple grids; the determining section is further configured to determine the printing galvanometer and the actual start time of each grid based on the candidate galvanometers corresponding to each grid, the printing order of the grids included in each row, the required printing time for each grid, and the moving speed of the galvanometer system; the printing section is configured to start printing at the actual start time of each grid using the corresponding printing galvanometer until the printing of all grids is completed.

[0008] Thirdly, this disclosure provides an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the printing path planning method as described in the first aspect.

[0009] Fourthly, this disclosure provides a computer-readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the printing path planning method as described in the first aspect.

[0010] Fifthly, this disclosure provides a computer program product, wherein the computer program product includes a computer program or instructions, which, when run on a processor, cause the processor to execute the computer program or instructions to implement the steps of the printing path planning method as described in the first aspect.

[0011] In a sixth aspect, this disclosure provides a chip including a processor and a communication interface coupled to the processor, the processor being used to run programs or instructions to implement the printing path planning method as described in the first aspect.

[0012] This disclosure provides a printing path planning method, which includes: dividing the desired printing area into multiple grids; during the movement of the galvanometer system, identifying galvanometers capable of scanning a first grid as candidate galvanometers for that first grid, where the first grid is any grid among the multiple grids; determining the printing galvanometer and actual start time for each grid based on the candidate galvanometers corresponding to each grid, the printing order of the grids in each row, the required printing time for each grid, and the moving speed of the galvanometer system; and starting printing at the actual start time of each grid using the corresponding printing galvanometer, until all grids are printed. This disclosure divides the printing area into multiple grids, with each grid in each row having a preset printing order. As the galvanometer system moves, the actual start time and printing galvanometer for each grid are determined. Thus, the galvanometers work collaboratively to complete the printing of the entire printing area according to the planned actual start time of each grid. Attached Figure Description

[0013] Figure 1 This is one of the flowcharts illustrating the printing path planning method provided in this disclosure;

[0014] Figure 2a A schematic diagram of the galvanometer layout for a non-aligned row / column galvanometer system provided in this disclosure;

[0015] Figure 2b The division of the forming area under the non-aligned row and column galvanometer system provided in this disclosure;

[0016] Figure 3a A schematic diagram of the galvanometer layout for the galvanometer system arranged in rows and columns provided in this disclosure;

[0017] Figure 3b The division of the forming area under the galvanometer system with rows and columns arranged in this disclosure;

[0018] Figure 4 This is the second flowchart illustrating the printing path planning method provided in this disclosure;

[0019] Figure 5 This is the third flowchart illustrating the printing path planning method provided in this disclosure;

[0020] Figure 6a This is a schematic diagram showing that the galvanometer width exactly covers k rows of the forming width provided in this disclosure;

[0021] Figure 6b This is a schematic diagram illustrating the critical state where the galvanometer area is about to fail to fully cover the k rows of the forming area, as provided in this disclosure.

[0022] Figure 7 This is the fourth flowchart illustrating the printing path planning method provided in this disclosure;

[0023] Figure 8 This is a schematic diagram of the grid division of the forming area provided in this disclosure;

[0024] Figure 9 This is a schematic diagram of the grid printing sequence provided in this disclosure;

[0025] Figure 10 This is a structural block diagram of a printing path planning device provided in this disclosure;

[0026] Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in this disclosure. Detailed Implementation

[0027] The technical solutions in the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] The terms "first," "second," etc., used in this application's specification are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that this disclosure can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, the first object can be one or more.

[0029] In traditional laser printing equipment, the galvanometer system is fixed in position and cannot print large forming areas (the bounding rectangle of the connected area to be printed in one step). Therefore, movable galvanometer systems have emerged, namely, array flying devices. In array flying devices, because the galvanometer system moves, each galvanometer may need to print multiple and discontinuous areas. In this case, how to plan the printing path within the forming area to improve printing efficiency becomes an urgent problem to be solved.

[0030] Therefore, this disclosure aims to provide a method for rationally planning the printing path on the forming area in an array flying device, so as to shorten the printing time of the entire forming area.

[0031] The printing path planning method provided in this disclosure will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0032] like Figure 1As shown, this disclosure provides a printing path planning method. The following example, using an electronic device as the execution subject, provides an exemplary description of the printing path planning method provided by this disclosure. This method may include the following steps S101 to S104.

[0033] In step S101, the desired printing area is divided into multiple grids.

[0034] During the movement of the galvanometer, each grid can be covered by the coverage area of ​​at least one galvanometer. The height of each grid in the longitudinal direction is less than or equal to the height of the galvanometer area (the maximum area that can be scanned by multiple galvanometers in the galvanometer system when their positions are fixed). The specific number of grids is not limited in this application.

[0035] Preferably, each grid is located in the scanning area of ​​at least two galvanometers, meaning that each grid is printed by at least one of the two galvanometers. In this way, if one galvanometer fails to emit light due to a malfunction, the other galvanometers can be responsible for printing, thus avoiding the problem of printing failure caused by galvanometer malfunction.

[0036] In step S102, during the movement of the galvanometer system, the galvanometers that can scan the first grid are identified as candidate galvanometers for the first grid.

[0037] The first grid is any one of multiple grids.

[0038] For example, such as Figure 2a The diagram shows the layout of the multiple galvanometers in the galvanometer system. The system includes galvanometers 1 to 5, a total of 5 galvanometers, arranged in two rows, not in a straight line or column. Figure 2b As shown, the forming area is divided into six rows and four columns. In... Figure 2a In the layout of the galvanometer system shown, Figure 2b In the diagram, i / j in each grid indicates that the grid can be printed by either galvanometer i or galvanometer j. In this partitioning method, each grid can be printed by two galvanometers, meaning each grid has two candidate galvanometers.

[0039] For example, such as Figure 3a The diagram shows the layout of the multiple galvanometers in the galvanometer system. The system includes 6 galvanometers, from galvanometer 1 to galvanometer 6, arranged in two rows and three columns. Figure 3b As shown, the forming area is divided into six rows and three columns. In... Figure 3a In the layout of the galvanometer system shown, Figure 3b The number i in each grid shown indicates that the grid is printed by galvanometer i. In this partitioning method, each grid is printed by one galvanometer, meaning that each grid has only one candidate galvanometer.

[0040] It should be noted that the more grids the forming area is divided into, the more candidate galvanometers each grid may correspond to. However, the more candidate galvanometers each grid corresponds to, the more complex it becomes to select the printing galvanometer for each grid during the actual printing process. Furthermore, more grids lead to fragmented printing, which can affect the overall quality of the forming area. Therefore, in practical applications, the number of grids needs to be determined empirically based on the size of the forming area. Generally, the larger the forming area, the more grids are needed, and the smaller the forming area, the fewer grids are needed. Preferably, each grid can be ensured to have one galvanometer responsible for printing, or, to prevent galvanometer damage from affecting printing, each grid can be ensured to have two galvanometers responsible for printing.

[0041] In step S103, the printing galvanometer and the actual start time of printing for each grid are determined based on the candidate galvanometers corresponding to each grid, the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system.

[0042] In step S104, at the actual start time of printing for each grid, printing begins through the corresponding printing galvanometer until all grids are printed.

[0043] The printing order of the grids in each row is pre-set. For example, if a row contains grids 1, 2, 3, and 4, the printing order is grids 1 to 4. That is, after grid 1 is printed, grid 2 is printed, then grid 3 is printed, and finally grid 4 is printed. However, if any grid has no printing task, that grid is skipped. For example, if grid 2 has no printing task, then grid 3 is printed after grid 1 is printed. The printing time required for each grid is pre-determined based on the printing task volume corresponding to each grid before printing.

[0044] In this example, as the galvanometer plane moves, it completely covers a row of grids, at which point printing can begin. Therefore, based on the galvanometer system's moving speed, the time required for the corresponding galvanometer plane to cover each row of grids can be determined, and a printing galvanometer can be selected from the corresponding candidate galvanometers for each grid. Since the workload of each grid is determined after grid division, i.e., the required printing time for each grid is determined, for any row of grids, starting from when the galvanometer plane completely covers the row, the actual start time for printing each grid can be determined sequentially according to the printing order.

[0045] For example, the moment when the galvanometer completely covers the first row of grids on the forming surface is recorded as 0s. The first row of grids includes 3 grids. According to the preset printing order, the printing time required for each grid is 1s, 3s, and 2s. Therefore, the first grid is determined to be printed by galvanometer 1, and the actual printing start time is 0s. The second grid is printed by galvanometer 2, and the actual printing start time is 1s. The third grid is printed by galvanometer 3, and the actual printing start time is 4s. The process continues until the second row of grids is completely covered. The same operation as the first row of grids is repeated, and so on, until all grids are scanned, thus completing the printing of the forming surface.

[0046] It should be noted that the moving speed of the galvanometer is less than or equal to the height of the galvanometer divided by the maximum printing time. The maximum printing time is the printing time of the longest row of grids in the forming area.

[0047] In this disclosure, the forming area is divided into multiple grids, and each grid in each row has a preset printing order. As the galvanometer system moves, the actual start time of printing for each grid and the printing galvanometer are determined. Thus, each galvanometer works together to complete the printing of the entire forming area according to the planned actual start time of printing for each grid.

[0048] In the field of laser printing, airflow refers to the airflow management system used to control the distribution of dust, gas, and heat during the printing process. In 3D printing technology, airflow control is crucial for ensuring print quality and the normal operation of the equipment. In some embodiments of this disclosure, to improve print quality, [the following is combined with...] Figure 1 ,like Figure 4 As shown, before determining the printing galvanometer for each grid and the actual start time of printing in step S103 based on the candidate galvanometers corresponding to each grid, the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system, the method further includes the following step S105.

[0049] In step S105, the printing order of the grids included in each row is determined according to the wind direction.

[0050] Specifically, the galvanometer system moves in a direction perpendicular to the wind direction. If the wind direction is from left to right, the printing order of each grid in each row is from right to left. If the wind direction is from right to left, the printing order of each grid in each row is from left to right. That is, the printing of each grid in each row is against the wind direction.

[0051] Determining the printing sequence of the grid based on wind direction can improve print quality and reduce defects. Specifically, backwind printing offers the following advantages: The printing process is opposite to the airflow direction, reducing material deformation or stress accumulation caused by localized overheating, especially when printing large parts; backwind printing ensures that smoke and fine dust particles generated during printing are effectively carried away from the printing area, preventing them from redepositing on unmelted powder and affecting print quality; backwind printing also reduces the direct impact of airflow on unmelted powder, maintaining a stable and uniform powder bed, thus improving printing accuracy; in some metal 3D printing applications, metal powder may react with oxygen or other gases in the atmosphere; backwind printing helps control the extent of these reactions because it reduces the contact time between fresh powder and reacting gases, thereby reducing the risk of oxidation or other undesirable chemical reactions; after each scan, the powder bed needs to be recoated with a new layer of powder, and backwind printing helps improve the uniformity of the new powder layer because it reduces airflow interference with the coating process. Therefore, backwind printing improves print quality by optimizing the interaction between airflow and printing.

[0052] To ensure that each grid is printed completely, some embodiments of this disclosure combine... Figure 1 ,like Figure 5 As shown, step S103 above determines the printing galvanometer and the actual start time of printing for each grid based on the candidate galvanometer corresponding to each grid, the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system. Specifically, this can be achieved through the following steps S103a and S103b.

[0053] In step S103a, the earliest start time and latest end time of printing for each grid are determined based on the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system.

[0054] The earliest start printing time is the earliest time when the grid can begin printing, and the latest end printing time is the latest time when the grid is completed printing.

[0055] Specifically, let each grid row be denoted as G. k (k = 1, 2, ..., M), let the earliest start time of printing for the scan task in the k-th row be denoted as . The latest time to finish printing is The forming area is divided into M rows. One condition for starting a scanning task in the k-th row is that the current row is completely contained within the galvanometer area 601 (dashed box). Figure 2b ,like Figure 6aAs shown, the galvanometer plane exactly covers the k-th row. If the galvanometer plane initially lies at the top of the first row of the forming surface, adjacent to the top of the first row, then it covers the k-th row. The galvanometer movement distance is kH / M, where H is the height of the forming surface and M is the number of grid rows. Following the scanning order from left to right, the earliest start times for printing the k-th row of the grid are as follows:

[0056]

[0057]

[0058]

[0059]

[0060] Similarly, as the galvanometer system moves, when the galvanometer field cannot completely cover the k-th row of the grid area, the scanning task for the k-th row of the grid area must be completely completed. The critical state is as follows: Figure 6b As shown, the moving distance of the galvanometer system at this time is kH / M+h, where h is the height of the galvanometer plane, i.e., the longitudinal width. Following the scanning order from left to right, the latest printing times for the k-th row of the grid are as follows:

[0061]

[0062]

[0063]

[0064]

[0065] In this row, the individual grid cells are numbered from 0 to 3 from left to right, t k0 t represents the printing time required for the 0th grid in the k-th row. k1 t represents the printing time required for the first grid cell in the k-th row. k2 t represents the printing time required for the second grid in the k-th row. k3 This represents the printing time required for the third grid in the k-th row, where V is the moving speed of the galvanometer system.

[0066] In step S103b, the printing galvanometer and the actual start time of printing for each grid are determined based on the galvanometer resource constraints and timing constraints of each grid.

[0067] Among them, the galvanometer resource constraints are: the printing galvanometer for each grid is one of the candidate galvanometers, and each galvanometer can only print one grid at a time; the timing constraints are: the actual start time and the actual end time of each grid are between the corresponding earliest start time and the latest end time of the printing, and the actual start time of each grid is earlier than the corresponding actual end time of the printing.

[0068] Thus, based on the moving speed of the galvanometer system, the earliest start time and latest end time of printing for each grid are determined to ensure that each grid can be printed completely.

[0069] Given the limited computing resources of the galvanometer system, to conserve computing power, the printing galvanometer for each grid can be any idle galvanometer from the corresponding candidate galvanometers, and the printing time for each grid can be any of the earliest start time and latest end time. Specifically, in some embodiments of this disclosure, combined with... Figure 5 ,like Figure 7 As shown, in step S103b above, the printing galvanometer and the actual start time of printing for each grid are determined according to the galvanometer resource constraints and timing constraints of each grid. This can be achieved through the following steps S701 and S702.

[0070] In step S701, any one of the candidate galvanometers corresponding to each grid is determined as the printing galvanometer for each grid.

[0071] In step S702, for each grid, any start printing time that satisfies the timing constraints is determined as the actual start printing time of the corresponding grid.

[0072] Preferably, the earliest start time for printing each grid can be determined as the actual start time for printing, so as to ensure that each grid can be printed as early as possible, thereby making the total printing time shorter.

[0073] When the computing resources of the galvanometer system are sufficient, in order to reduce the total printing time and improve printing efficiency, the printing galvanometer and the actual start time of printing can be determined by an algorithm. Specifically, in some embodiments of this disclosure, the printing galvanometer and the actual start time of printing for each grid are determined according to the galvanometer resource constraints and timing constraints of each grid in step S103b above, which can be implemented by the following step S801.

[0074] In step S801, based on the galvanometer resource constraints and timing constraints of each grid, the printing galvanometer and the actual start time of printing for each grid are determined through a resource allocation algorithm.

[0075] The resource allocation algorithm is used to determine the galvanometer allocation with the shortest total scan time and the actual start time for printing each grid.

[0076] Alternatively, for resource-constrained task scheduling problems, both exact algorithms and metaheuristic algorithms can be employed. However, since exact algorithms aim to find the optimal solution, they typically face significant increases in computation time and resources when dealing with large-scale problems. For large-scale or complex resource-constrained task scheduling problems, exact algorithms may be impractical. Metaheuristic algorithms can find a good solution within a reasonable time, but are not guaranteed to be optimal. Therefore, this disclosure, considering the computing power of the laser printing equipment, preferably uses metaheuristic algorithms.

[0077] Specifically, metaheuristic algorithms include: greedy algorithms, local search, ant colony optimization, genetic algorithms, and particle swarm optimization. However, in solving the problem disclosed in this invention, genetic algorithms and particle swarm optimization are preferred because their structures are relatively simple, easy to encode and implement, and their parameter adjustments are relatively straightforward. Furthermore, the solutions determined using genetic algorithms and particle swarm optimization are superior to those of other algorithms and take less time.

[0078] For example, based on the mirror resource constraints and timing constraints of each grid, the specific implementation process of determining the printing mirror and the actual start time of printing for each grid using the particle swarm optimization algorithm is as follows:

[0079] 1. Particle representation

[0080] Each particle represents a possible printing process scheme. A particle can contain two parts of information: the printing order of the grids and the actual start time of printing for each grid. The particle representation also needs to take into account the galvanometer assignment, that is, which galvanometer each grid is actually assigned to for printing.

[0081] 2. Initialization

[0082] Particle initialization: Randomly generate a set of initial particles. It is necessary to ensure that each particle conforms to the earliest start and latest end printing constraints for each grid. Furthermore, considering that each galvanometer can only print one grid per time step, the grid allocation in the initial scheme should avoid assigning the same galvanometer to multiple grids at the same time step.

[0083] Velocity initialization: The particle velocity represents the rate of change of the mesh at the actual moment printing begins.

[0084] 3. Fitness Function

[0085] The fitness function is defined as the total task duration, i.e., the total time required to complete the forming sheet, and the goal is to minimize this total duration. It is necessary to ensure that the fitness function calculation takes into account resource constraints, meaning that the same galvanometer resource can only execute one task at a time.

[0086] 4. Constraint Handling

[0087] Time window constraint: Ensures that the actual printing time for each particle on each grid is no earlier than the earliest start printing time and no later than the latest end printing time. If the updated position of a particle violates this constraint, adjustments are required to make it valid.

[0088] Galvanometer resource constraints: Ensure that each galvanometer prints only one mesh at any given time. This can be addressed through a correction strategy, checking and resolving conflicts after particle position updates. For example, if a galvanometer resource allocation conflict is found (i.e., two tasks are simultaneously assigned to the same galvanometer resource), the conflict can be resolved by delaying the start time of one of the tasks.

[0089] 5. Particle Update

[0090] The particle velocities and positions are updated according to the standard formula of the particle swarm optimization algorithm. The update operation needs to consider both the mesh printing order and the actual start time, and ensure that the updated solution still satisfies all constraints.

[0091] 6. Termination Conditions

[0092] Set a termination condition, such as: reaching the maximum number of iterations, or the improvement of the fitness function is less than a preset threshold, or meeting other predefined stopping criteria, then the algorithm terminates.

[0093] 7. Output the optimal solution

[0094] When the termination condition is met, the particle with the best fitness value is selected as the solution, thus determining the workflow scheme with the shortest time required to complete the printing of all grids.

[0095] For example, the arrangement of multiple galvanometers included in the galvanometer system is taken as... Figure 2a As shown. The forming area is 500mm wide and 750mm high, the galvanometer area is 520mm wide and 400mm high, and the galvanometer system's moving speed is 8mm / s. Figure 8 As shown, the shaded area represents the connected region that actually needs to be printed. The printed area is an circumscribed rectangle, divided into 6 rows and 4 columns, for a total of 24 grids. Figure 8 The number in each grid indicates the time required to print that grid. Let Vij denote the grid in row i and column j, where the row numbers are as follows: Figure 8 The numbers are 0 to 5 from top to bottom, and the column numbers are 0 to 3 from left to right. V11 and V64 have no printing tasks, so the printing duration is 0. Table 1 shows the time constraints.

[0096] Table 1 Time Constraints

[0097] Printing grid Earliest start time (s) Latest end time (s) Duration (s) V11 0 V12 12.5 41 3.2 V13 15.7 48.1 7.1 V14 22.8 50 1.9 V21 25 39.2 3.8 V22 28.8 49 9.8 V23 38.6 60.5 10 V24 48.6 62.5 2 V31 37.5 52.8 3.5 V32 41 62.8 10 V33 51 72.8 10 V34 61 75 2.2 V41 50 61.3 3 V42 53 71.3 10 V43 63 81.3 10 V44 73 87.5 6.2 V51 62.5 74.4 5.5 V52 68 84.4 10 V53 78 94.2 9.8 V54 87.8 100 5.8 V61 75 98.3 2.1 V62 77.1 104 5.7 V63 82.8 105 1 V64 0

[0098] Table 2 shows the printing galvanometer and actual start time for each grid. As can be seen from Table 2, the time required to complete printing the entire formed area is 93.6 seconds.

[0099] Table 2 shows the printed galvanometer and actual start time for each grid.

[0100]

[0101]

[0102] The final grid scan sequence planning is as follows: Figure 9 As shown, printing proceeds from front to back in the direction of the arrows, with the printing start time of each branch being later the further to the right.

[0103] Figure 10 This is a structural block diagram of a printing path planning device 1000 disclosed herein, as follows: Figure 9 As shown, it includes: a dividing part 1001, a determining part 1002, and a printing part 1003;

[0104] The dividing section 1001 is configured to divide the desired printing area into multiple grids;

[0105] The determining part 1002 is configured to determine, during the movement of the galvanometer system, a galvanometer that can scan the first grid as a candidate galvanometer for the first grid, wherein the first grid is any one of a plurality of grids;

[0106] The determining part 1002 is also configured to determine the printing galvanometer and the actual start time of printing for each grid based on the candidate galvanometers corresponding to each grid, the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system.

[0107] The printing section 1003 is configured to start printing via the corresponding printing galvanometer at the actual start time of printing for each grid, until all grids are printed.

[0108] In some embodiments of this disclosure, each grid is located within the scanning area of ​​at least two galvanometers.

[0109] In some embodiments of this disclosure, the determining portion 1002 is further configured to determine the printing order of the grids in each row based on the wind direction before determining the printing galvanometer for each grid and the actual start time of printing based on the candidate galvanometers corresponding to each grid, the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system.

[0110] In some embodiments of this disclosure, the determining part 1002 is specifically configured to determine the earliest start printing time and the latest end printing time of each grid based on the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system; and to determine the printing galvanometer and the actual start printing time of each grid based on the galvanometer resource constraints and timing constraints of each grid. The galvanometer resource constraints are: the printing galvanometer for each grid is one of the candidate galvanometers, and each galvanometer can only print one grid at a time; the timing constraints are: the start printing time and the end printing time of each grid are between the corresponding earliest start printing time and the latest end printing time, and the start printing time of each grid is earlier than the corresponding end printing time.

[0111] In some embodiments of this disclosure, the determining part 1002 is specifically configured to determine any one of the candidate galvanometers corresponding to each grid as the printing galvanometer for each grid; and for each grid, determine any start printing time that satisfies the timing constraints as the actual start printing time of the corresponding grid.

[0112] In some embodiments of this disclosure, the determining part 1002 is specifically configured to determine the printing galvanometer and the actual start printing time of each grid based on the galvanometer resource constraints and timing constraints of each grid through a resource allocation algorithm. The resource allocation algorithm is used to determine the galvanometer allocation with the shortest total scan time and the actual start printing time of each grid.

[0113] In some embodiments of this disclosure, the resource allocation algorithm is a genetic algorithm or a particle swarm optimization algorithm.

[0114] It should be noted that the above-mentioned printing path planning device can be the electronic device in the above method embodiment of this application, or it can be a functional module and / or functional entity in the electronic device that can realize the function of the device embodiment. This application embodiment does not limit it.

[0115] In this embodiment, each module can implement the printing path planning method provided in the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0116] Please refer to Figure 10This illustration shows a structural block diagram of an electronic device provided in an exemplary embodiment of this disclosure. In some examples, the electronic device may be at least one of devices such as a smartphone, smartwatch, desktop computer, laptop, virtual reality terminal, augmented reality terminal, wireless terminal, and laptop computer. The electronic device has communication functions and can access wired or wireless networks. The term "electronic device" can refer to one of multiple terminals; those skilled in the art will understand that the number of such terminals may be more or less. It is understood that the electronic device undertakes the computational and processing work of the technical solution of this disclosure, and this disclosure does not limit this aspect.

[0117] like Figure 11 As shown, the electronic device in this disclosure may include one or more of the following components: processor 1110 and memory 1120.

[0118] Optionally, the processor 1110 connects various parts within the electronic device using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1120, and by calling data stored in the memory 1120. Optionally, the processor 1110 can be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 1110 can integrate one or more of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), Neural-network Processing Unit (NPU), and baseband chip. Specifically, the CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for the touchscreen display; the NPU is used to implement Artificial Intelligence (AI) functions; and the baseband chip is used for wireless communication. It is understandable that the aforementioned baseband chip may not be integrated into the processor 1110, but may be implemented using a separate chip.

[0119] The memory 1120 may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory 1120 may include a non-transitory computer-readable storage medium. The memory 1120 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 1120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the various method embodiments described above, etc.; the data storage area may store data created based on the use of the electronic device, etc.

[0120] In addition, those skilled in the art will understand that the structure of the electronic device shown in the above figures does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements. For example, the electronic device may also include a display screen, camera assembly, microphone, speaker, radio frequency circuit, input unit, sensors (such as accelerometer, angular velocity sensor, light sensor, etc.), audio circuit, WiFi module, power supply, Bluetooth module, etc., which will not be described in detail here.

[0121] This disclosure also provides a computer-readable storage medium storing at least one instruction that is executed by a processor to implement the printing path planning method as described in the above embodiments.

[0122] This disclosure also provides a computer program product including computer instructions stored in a computer-readable storage medium; a processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the printing path planning method described in the above embodiments.

[0123] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described printing path planning method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0124] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0125] In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, servers, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0128] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part 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 this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0129] Those skilled in the art will recognize that the functions described in this disclosure in one or more of the examples above can be implemented using hardware, software, firmware, or any combination thereof. When implemented in software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium accessible to a general-purpose or special-purpose computer.

[0130] It should be noted that the technical solutions described in this disclosure can be combined arbitrarily as long as they do not conflict.

[0131] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for printing path planning, characterized in that, The method includes: The desired printing area is divided into multiple grids, each grid being located in the scanning area of ​​at least two galvanometers; During the movement of the galvanometer system, the galvanometers that can scan the first grid are identified as candidate galvanometers for the first grid, where the first grid is any one of the plurality of grids; Based on the candidate galvanometers corresponding to each grid, the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system, determine the printing galvanometer and the actual start time of printing for each grid. At the actual start time of printing for each grid, printing begins through the corresponding printing galvanometer until all grids are printed. The process of determining the printing galvanometer and actual start time for each grid based on the candidate galvanometers corresponding to each grid, the printing order of the grids in each row, the required printing time for each grid, and the moving speed of the galvanometer system includes: Based on the moving speed of the galvanometer system, determine the time required for the corresponding galvanometer area to cover each row of grids, and select the printing galvanometer from the corresponding candidate galvanometers for each grid. The printing time for each grid is determined based on the workload of each grid. For any given row of grids, starting from when the galvanometer plane completely covers the row of grids, the actual start time for printing each grid is determined according to the printing order, the time required for each row of grids, and the printing time corresponding to each grid.

2. The method according to claim 1, characterized in that, Before determining the printing galvanometer for each grid and the actual start time of printing based on the candidate galvanometers corresponding to each grid, the printing order of the grids in each row, the required printing time for each grid, and the moving speed of the galvanometer system, the method further includes: The printing order of the grids included in each row is determined based on the wind direction.

3. The method according to claim 1 or 2, characterized in that, The process of determining the printing galvanometer and actual start time for each grid based on the candidate galvanometers corresponding to each grid, the printing order of the grids in each row, the required printing time for each grid, and the moving speed of the galvanometer system includes: Based on the printing order of the grids in each row, the printing time required for each grid, and the moving speed of the galvanometer system, determine the earliest start time and latest end time of printing for each grid. Based on the galvanometer resource constraints and timing constraints of each grid, the printing galvanometer and the actual start printing time of each grid are determined. The galvanometer resource constraints are: the printing galvanometer of each grid is one of the candidate galvanometers, and each galvanometer can only print one grid at a time; the timing constraints are: the start printing time and the end printing time of each grid are between the corresponding earliest start printing time and latest end printing time, and the start printing time of each grid is earlier than the corresponding end printing time.

4. The method according to claim 3, characterized in that, The process of determining the printing galvanometer and actual start printing time for each grid based on the galvanometer resource constraints and timing constraints of each grid includes: Choose any one of the candidate galvanometers corresponding to each grid as the printing galvanometer for each grid; For each grid, any start printing time that satisfies the timing constraints is determined as the actual start printing time of the corresponding grid.

5. The method according to claim 3, characterized in that, The process of determining the printing galvanometer and actual start printing time for each grid based on the galvanometer resource constraints and timing constraints of each grid includes: Based on the galvanometer resource constraints and timing constraints of each grid, a resource allocation algorithm is used to determine the printing galvanometer and the actual start time of printing for each grid. The resource allocation algorithm is used to determine the galvanometer allocation with the shortest total scan time and the actual start time of printing for each grid.

6. The method according to claim 5, characterized in that, The resource allocation algorithm is either a genetic algorithm or a particle swarm optimization algorithm.

7. A printing path planning device, characterized in that, The device includes: a dividing section, a determining section, and a printing section; The division portion is configured to divide the desired printing area into multiple grids, each grid being located in the scanning area of ​​at least two galvanometers; The determining part is configured to determine, during the movement of the galvanometer system, a galvanometer that can scan the first grid as a candidate galvanometer for the first grid, wherein the first grid is any one of the plurality of grids; The determining part is further configured to determine the printing galvanometer and the actual start time of printing for each grid based on the candidate galvanometers corresponding to each grid, the printing order of the grids included in each row, the printing time required for each grid, and the moving speed of the galvanometer system. The printing section is configured to start printing at the actual start time of printing for each grid via the corresponding printing galvanometer until all grids are printed. The determining part is specifically configured to determine the time required for the galvanometer system to cover each row of grids based on the moving speed of the galvanometer system, and to determine the printing galvanometer from the corresponding candidate galvanometers for each grid; to determine the printing time corresponding to each grid based on the workload of each grid; and to determine the actual start time of printing for each grid, starting from when the galvanometer surface completely covers the grid, according to the printing order, the time required for each row of grids, and the printing time corresponding to each grid.

8. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the printing path planning method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the printing path planning method as described in any one of claims 1 to 6.

Images