Method for path planning of multi-color printing, 3D printer, device and storage medium

Abstract

The application provides a path planning method for multi-color printing, a 3D printer, equipment and a medium. The path planning method for multi-color printing provided by the application comprises the following steps: acquiring color information corresponding to a printing model, the printing model having at least two colors, and calculating waste values corresponding to consumables of different two colors when switching; slicing the printing model according to a preset height and the color information to obtain contour information of a plurality of slice layers; acquiring a first printing path of each slice layer based on the contour information; for a slice layer having two or more than two colors, acquiring a flushing volume of consumables of different two colors in the contour of the corresponding slice layer when switching according to the corresponding first printing path; and for a slice layer having two or more than two colors, determining a waste value planning according to the flushing volume and the waste value to obtain a second printing path. The method provided by the application reduces the waste of consumables.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D printers, and particularly relates to a multi-color printing path planning method, a 3D printer, equipment and a medium. BACKGROUND

[0002] The fused deposition modeling process can extrude filamentous material from a heated nozzle and move the nozzle according to a pre-planned path, thereby printing a printed object corresponding to a digital three-dimensional model in a layer-by-layer manner.

[0003] Some 3D printers on the market can realize multi-material printing. A common 3D printer has a structure of a single nozzle and multiple feed ports. The material changing mode is to back off the consumables of the previous color and then switch to the consumables of another color. Since there is a residual amount of the consumables of the previous color in the nozzle cavity, the printing color of the current consumables will be contaminated. The existing 3D printing scheme can clean the consumables of the previous color by extruding mixed color consumables to print a cleaning tower after switching the consumables, so as to clean the consumables of the previous color until the extruded color is completely the consumables of another color. This scheme wastes a large amount of consumables. SUMMARY

[0004] The present application aims to provide a multi-color printing path planning method, a 3D printer, equipment and a medium to solve the technical problem of wasting a large amount of consumables when switching consumables in the prior art.

[0005] The technical solution of the present application is as follows. A multi-color printing path planning method is provided, comprising:

[0006] Obtaining color information corresponding to a printing model, the printing model having at least two colors, and calculating waste values of consumables of different two colors when switching;

[0007] Slicing the printing model according to a preset height and the color information to obtain contour information of a plurality of slice layers;

[0008] Based on the contour information, obtaining a first printing path of each slice layer;

[0009] For the slice layer having two or more than two colors, obtaining a flushing volume of consumables of different two colors in the contour of the slice layer when switching according to the first printing path corresponding to the slice layer;

[0010] For the slice layer having two or more than two colors, determining a planning of the waste values according to the flushing volume and the waste values to obtain a second printing path.

[0011] Further, the computing of the waste value corresponding to the switching of the consumables of the two different colors comprises:

[0012] Obtaining a three-primary color R channel, a three-primary color G channel and a three-primary color B channel of the color;

[0013] According to the three-primary color R channel, the three-primary color G channel and the three-primary color B channel, obtaining a distance between any two different colors;

[0014] According to a preset minimum waste value, a preset maximum waste value, the distance between the two different colors and a waste value calculation formula, obtaining the waste value corresponding to the switching of the consumables of the two different colors, the waste value calculation formula comprising E=E1+(E2-E1)*n1, wherein E1 is the preset minimum waste value, E2 is the preset maximum waste value, and n1 is a normalized value of the distance between the two different colors.

[0015] Further, slicing the printing model according to a preset height and the color information comprises:

[0016] Obtaining support data and Z seam data, merging the first vertex data of the printing model, the first triangular face of the printing model and the color information corresponding to the first triangular face with the support data and the Z seam data to form model data;

[0017] Slicing the printing model according to the preset height and the model data;

[0018] Or, comprising:

[0019] Merging the first vertex data of the printing model, the first triangular face of the printing model and the color information corresponding to the first triangular face to form colored slice data;

[0020] Obtaining support data and Z seam data, and slicing the support data and the Z seam data into first path planning data and second path planning data respectively, and forming model data according to the colored slice data, the first path planning data and the second path planning data;

[0021] Slicing the printing model according to the preset height and the model data.

[0022] Further, the contour information comprises coordinate point information of each color contour distinguished based on color, and the color contour has one or more of:

[0023] According to the contour information, obtaining a first printing path of each slice layer comprises:

[0024] For each of the slice layers, according to coordinate point information of one or more of the color contours, an area of a path region of each of the color contours is obtained, and according to the area of the path region and a preset filling density, a first printing path of each of the slice layers is obtained.

[0025] Further, after the contour information of the plurality of slice layers is obtained, the method further includes:

[0026] It is determined whether the current slice layer includes two or more than two colors, and if not, the first printing path of the current slice layer is taken as a final printing path of the current slice layer.

[0027] Further, according to the first printing path, a flushing volume of different two colors of consumables in the contour of the slice layer when switching is obtained, including:

[0028] According to the first printing path and a preset nozzle corresponding consumable flow, a flushing volume of different two colors of consumables in the contour of the slice layer when switching is obtained.

[0029] Further, according to the flushing volume and the waste value, a planning of the waste value is determined to obtain a second printing path, including:

[0030] If the flushing volume is less than the waste value, the waste value of the flushing volume size is planned into the first printing path, and the remaining waste value is planned into a paint tower to obtain a second printing path.

[0031] Another technical solution of the present application is as follows, and a 3D printer is also provided, including a data acquisition module, a slicing module, a first printing path acquisition module, a flushing volume acquisition module, and a second printing path acquisition module;

[0032] The data acquisition module is configured to acquire color information corresponding to a printing model, the printing model having at least two colors, and to calculate a waste value corresponding to consumables of different two colors when switching;

[0033] The slicing module is configured to slice the printing model according to a preset height and the color information to obtain contour information of a plurality of slice layers;

[0034] The first printing path acquisition module is configured to obtain a first printing path of each of the slice layers based on the contour information;

[0035] The flushing volume acquisition module is configured to, for the slice layer having two or more than two colors, obtain a flushing volume of different two colors of consumables in the contour of the slice layer when switching according to the first printing path;

[0036] The second printing path acquisition module is configured to, for the slice layer with two or more colors, determine a planning of the waste value according to the flushing volume and the waste value, to obtain a second printing path.

[0037] Another technical solution of the present application is as follows, and further provides an electronic device including a memory and a processor, the memory stores a computer program executable by the processor, and the processor implements the multi-color printing path planning method according to any one of the above technical solutions when executing the computer program.

[0038] Another technical solution of the present application is as follows, and further provides a computer readable storage medium storing a computer program, and the computer program is executed by a processor to implement the multi-color printing path planning method according to any one of the above technical solutions.

[0039] The present application has the beneficial effects that: color information corresponding to a printing model is acquired, the printing model has at least two colors, and waste values of consumables of different two colors when switching are calculated; the printing model is sliced according to a preset height and the color information, to obtain contour information of a plurality of slice layers; first printing paths of each slice layer are acquired based on the contour information; for the slice layer with two or more colors, flushing volumes of consumables of different two colors in the contour of the slice layer when switching are acquired according to the first printing paths; for the slice layer with two or more colors, a planning of the waste value is determined according to the flushing volume and the waste value, to obtain a second printing path; through the above technical solution, the planning of waste when switching consumables is realized, the waste of consumables is reduced, the utilization rate of consumables is improved, and the cost of 3D printing is saved. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 A flowchart of the multi-color printing path planning method provided by the embodiment of the present application is shown;

[0041] Figure 2 A first schematic diagram of a slice layer provided by the embodiment of the present application is shown;

[0042] Figure 3 A second schematic diagram of a slice layer provided by the embodiment of the present application is shown;

[0043] Figure 4 A structural schematic diagram of a 3D printer provided by the embodiment of the present application is shown;

[0044] Figure 5 A structural schematic diagram of an electronic device provided by the embodiment of the present application is shown;

[0045] Figure 6 A structural schematic diagram of a computer readable storage medium provided by an embodiment of the present application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0047] Reference to "an embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase that the phrase in the specification do not necessarily all refer to the same embodiment, or necessarily refer to different or alternative embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined.

[0048] Figure 1 is a flowchart of a path planning method for multi-color printing of an embodiment of the present application. It is noted that the path planning method for multi-color printing of the present application is not limited to the flow order shown in Figure 1 . As shown in Figure 1 , the path planning method for multi-color printing mainly includes the following steps:

[0049] S101, obtaining color information corresponding to a printing model, the printing model having at least two colors, and calculating waste values corresponding to switching of consumables of different two colors;

[0050] In one specific embodiment, for a specific model of 3D printer, it can support printing of multiple colors, and the corresponding printing model also corresponds to multiple colors. For example, the current model of 3D printer supports printing of four colors, and the printing model also corresponds to four colors. According to the color wheel, the three primary colors RGB (data representation of color information) corresponding to the four colors are selected, and the four colors can be set as c1, c2, c3, and c4.

[0051] In some embodiments, the calculating of the waste values corresponding to the switching of the consumables of the different two colors includes:

[0052] Obtaining a three-primary-color R channel, a three-primary-color G channel, and a three-primary-color B channel of the color;

[0053] According to the three primary color R channel, the three primary color G channel and the three primary color B channel, the distance between any two different colors is obtained;

[0054] According to the preset minimum waste value, the preset maximum waste value, the distance between the two different colors and the waste value calculation formula, the waste value corresponding to the switching of the consumables of the two different colors is obtained, and the waste value calculation formula includes E=E1+(E2-E1)*n1, wherein E1 is the preset minimum waste value, E2 is the preset maximum waste value, and n1 is the normalized value of the distance between the two different colors.

[0055] In one embodiment, the waste value corresponding to the switching of the consumables of the two different colors is obtained, that is, the amount of consumables that needs to be cleaned when the consumables of the two different colors are switched, so as to ensure that there is no color mixing area in the nozzle. In order to obtain the waste value corresponding to the switching of the consumables of the two different colors, the distance between any two different colors is needed. Without loss of generality, it is assumed that c 1,R The three primary color R channel representing color c1, c 1,G The three primary color G channel representing color c1, c 1,B The three primary color B channel representing color c1, c 2,R The three primary color R channel representing color c2, c 2,G The three primary color G channel representing color c2, c 2,B The three primary color B channel representing color c2, c

[0056]

[0057] The distance between the two different colors is normalized to obtain the normalized value of the distance between the two different colors. Specifically, the longest distance Lmax between all colors can be calculated. The RGB value of white is (0, 0, 0), and the RGB value of black is (255, 255, 255). The distance from white to black is the longest distance Lmax between all colors. Therefore, the normalized value of the distance between color c1 and color c2 is n1=L1 / Lmax, that is, the distance between the two different colors is divided into the interval of 0-1. In this way, the waste value of the switching of the consumables of the two different colors in the above-mentioned multiple colors can be obtained, and a waste value set Es is formed. It should be noted that the waste value corresponding to the switching of the consumables of the two different colors is the flushing amount of the consumables when the consumables of the two different colors are switched.

[0058] S102, according to the preset height and the color information, the printing model is sliced to obtain the contour information of a plurality of slice layers;

[0059] In one embodiment, the 3D printing model is cut according to the preset height and the plurality of colors in the XY plane to obtain a contour set, the contour set including a plurality of layers of contours pps, each layer of contours including two or more colors, for example, the 3D printing model can be cut into 5 layers, and each layer of contours can include sub-contours of two colors, for example, blue and purple.

[0060] In some embodiments, the printing model is sliced according to the preset height and the color information, including:

[0061] The support data and the Z seam data are obtained, and the first vertex data of the printing model, the first triangular face of the printing model, and the color information corresponding to the first triangular face are merged with the support data and the Z seam data to form model data.

[0062] The printing model is sliced according to the preset height and the model data.

[0063] Alternatively, including:

[0064] The first vertex data of the printing model, the first triangular face of the printing model, and the color information corresponding to the first triangular face are merged to form colored slice data.

[0065] The support data and the Z seam data are obtained, and the support data and the Z seam data are sliced into first path planning data and second path planning data, respectively, and the colored slice data, the first path planning data, and the second path planning data are used to form model data.

[0066] The printing model is sliced according to the preset height and the model data.

[0067] In one embodiment, the original data of the printing model can be obtained, and the printing model is loaded, wherein the original data includes a plurality of first triangular faces and first vertex data, and the printing model has a first color; a second color is applied to at least part of the first triangular faces of the printing model; and the model data is generated according to the first vertex data, the first triangular faces, and the color information of each first triangular face.

[0068] In one embodiment, the method of applying the second color to at least part of the first triangular face of the 3D printing model comprises: applying the second color to the at least part of the first triangular face of the 3D printing model by face, or applying the second color to a current first triangular face of the 3D printing model and filling the second color to adjacent first triangular faces of the current first triangular face. The method of applying the second color to at least part of the first triangular face of the 3D printing model can further comprise: dividing the first triangular face of the 3D printing model into a plurality of second triangular faces, and subdividing the second color to at least part of the second triangular faces to apply the second color to at least part of the first triangular face of the 3D printing model. After applying the second color to at least part of the first triangular face of the 3D printing model, the method further comprises: determining a plurality of containers for storing color data, and storing the color data of the plurality of first triangular faces in the plurality of containers respectively, the number of containers being the same as the number of first triangular faces, and the color data of the plurality of first triangular faces including the first color and the second color.

[0069] In one embodiment, the slicing the support data into the first path planning data can comprise: deserializing the support data, obtaining the deserialized support data, slicing the support data to obtain support sliced data, and taking the support sliced data as the first path planning data.

[0070] It should be noted that, since the final printing slice needs a complete vertex and triangular face data, the complete vertex and triangular face data includes the original first vertex data, the first triangular face, and the first vertex data and the first triangular face after setting the color, i.e., includes the above-mentioned first vertex data, the above-mentioned first triangular face, the color information of the above-mentioned first triangular face, and the color information of the above-mentioned first vertex data. Due to the particularity of triangular face subdivision, the above-mentioned first vertex data, the above-mentioned first triangular face, the color data of the above-mentioned first triangular face, and the color data of the above-mentioned first vertex data can not be directly merged into model data, and need to be merged with the support data and the Z-seam data to form model data.

[0071] The first vertex data and the first triangular face are first merged and colored, which can plan to use different nozzles for different colors; the support data and the Z-seam data need to be separately planned into path planning data (the first path planning data and the second path planning data), and the path planning data is merged into the colored slice data, and the support data and the Z-seam data only add functions. The above-mentioned model data is slice data.

[0072] S103, obtaining a first printing path of each slice layer based on the contour information;

[0073] In some embodiments, the contour information includes coordinate point information of color contours distinguished based on colors, and the color contours have one or more of the following characteristics:

[0074] The obtaining of a first printing path of each slice layer based on the contour information includes:

[0075] For each of the slice layers, the path area of ​​each color contour is obtained according to the coordinate point information of one or more color contours, and the first printing path of each of the slice layers is obtained according to the path area and the preset filling density.

[0076] In a specific embodiment, the path area may be the area of ​​the identified area divided into paths; based on the path area and the preset filling density, the printing path (length) path within each color outline is obtained, and the printing path path may be the area filled inside each color outline.

[0077] Obtaining the path area of ​​each color contour based on coordinate point information can be done using existing technology, which may include determining all coordinate points that constitute the path area, and the coordinate points need to be arranged in a certain order, usually clockwise or counterclockwise, to form a closed contour; using coordinate points to define the path, these points can be represented by a Path or Paths data structure; the area of ​​the polygon defined by the Path object can be directly calculated using the Area function; the area calculation of the polygon depends on the arrangement direction of the coordinate points. If the path is arranged counterclockwise, the returned area value is a positive number; if it is arranged clockwise, the returned area value is a negative number; depending on the needs, it may be necessary to take its absolute value to represent the area; if the path is self-intersecting (that is, the edges of the polygon have intersections), these self-intersecting parts need to be processed first; before calculating the area, the CleanPolygon or CleanPolygons function can be used to optimize and clean the path, remove collinear points or points that are too close to avoid calculation errors; calling the Area function and passing in the path to obtain the area of ​​the polygon; the area of ​​the polygon is obtained according to the value returned by the Area function, which can be converted to actual measurement units as needed.

[0078] In some embodiments, after obtaining the contour information of the plurality of slice layers, the method further includes:

[0079] It is determined whether the current slice layer includes two or more colors. If not, the first printing path of the current slice layer is used as the final printing path of the current slice layer.

[0080] It should be noted that, when the slice layer currently includes only one color, there is no need to switch the consumables, and there is no need to determine the second printing path.

[0081] In a specific embodiment, the first schematic diagram of the slice layer is as follows: Figure 2 As shown, Figure 2The slice layer in the first schematic diagram includes two colors, a light color being blue and a dark color being purple. Figure 3 The slice layer in the second schematic diagram includes only one color. Figure 3 The slice layer in the third schematic diagram includes three colors or four colors.

[0082] S104, for the slice layer with two or more colors, according to the first printing path, the flushing volume of the two different colors of consumables in the slice layer is obtained when switching.

[0083] In some embodiments, according to the first printing path, the flushing volume of the two different colors of consumables in the slice layer is obtained when switching, including:

[0084] According to the first printing path and the preset consumable flow corresponding to the nozzle, the flushing volume of the two different colors of consumables in the slice layer is obtained when switching.

[0085] In one specific embodiment, the preset consumable flow corresponding to the nozzle can be e, and the flushing volume V of the two different colors of consumables in the slice layer when switching is path*e. It should be noted that the switching of the two different colors of consumables is performed in the order of the first printing path.

[0086] S105, for the slice layer with two or more colors, according to the flushing volume and the waste value, the planning of the waste value is determined to obtain a second printing path.

[0087] In some embodiments, according to the flushing volume and the waste value, the planning of the waste value is determined to obtain a second printing path, including:

[0088] If the flushing volume is less than the waste value, the waste value of the flushing volume is planned in the first printing path, and the remaining waste value is planned in the paint tower to obtain a second printing path.

[0089] It should be noted that since the filling path is inside the printed model, planning the transition mixed color segment to the filling path (the first printing path) and planning the remaining waste value to the paint tower can reduce the flushing time, and at the same time avoid too much consumable to print the paint tower, thereby saving consumables.

[0090] In one specific embodiment, if the flushing volume is less than the waste value, the waste value of the size of the flushing volume is planned into the filling path, and the remaining waste value is planned into the coating tower, if the flushing volume is greater than or equal to the waste value, the entire waste value is planned into the filling path, and the path planning of the waste value when the consumables of any two different colors in the multi-layer contour are switched can be determined in a similar manner. After obtaining the first printing path and the second printing path, the printing of the model can be performed according to the first printing path and the second printing path.

[0091] The method for path planning of multi-color printing provided by the embodiments of the present application obtains color information corresponding to a printing model, the printing model has at least two colors, calculates waste values corresponding to consumables of different two colors when switching, slices the printing model according to a preset height and the color information to obtain contour information of a plurality of slice layers, obtains a first printing path of each slice layer based on the contour information, obtains flushing volumes of consumables of different two colors in a contour of a slice layer corresponding to the first printing path for the slice layer having two or more than two colors, determines planning of the waste values according to the flushing volumes and the waste values for the slice layer having two or more than two colors to obtain a second printing path, and realizes planning of waste when switching of consumables, reduces waste of consumables, improves utilization of consumables, and thus saves the cost of 3D printing.

[0092] Figure 4 FIG. 1 is a structural schematic diagram of a 3D printer according to an embodiment of the present application. The 3D printer 40 includes a data acquisition module 41, a slicing module 42, a first printing path acquisition module 43, a flushing volume acquisition module 44, and a second printing path acquisition module 45.

[0093] The data acquisition module 41 is configured to obtain color information corresponding to a printing model, the printing model has at least two colors, and calculate waste values corresponding to consumables of different two colors when switching.

[0094] The slicing module 42 is configured to slice the printing model according to a preset height and the color information to obtain contour information of a plurality of slice layers.

[0095] The first printing path acquisition module 43 is configured to obtain a first printing path of each slice layer based on the contour information.

[0096] The flushing volume acquisition module 44 is configured to obtain flushing volumes of consumables of different two colors in a contour of a slice layer corresponding to the first printing path for the slice layer having two or more than two colors.

[0097] The second printing path acquisition module 45 is configured to, for the slice layer with two or more colors, determine a planning of the waste value according to the flushing volume and the waste value, to obtain a second printing path.

[0098] For other details of the modules in the 3D printer regarding the above technical solutions, refer to the description of the path planning method for multi-color printing provided in the above embodiments, which will not be repeated here.

[0099] Figure 5 is a structural schematic diagram of an electronic device of the embodiments of the present application. As shown in the figure, the electronic device 50 includes a processor 51 and a memory 52 in communication connection with the processor 51. Figure 5 The memory 52 stores program instructions for implementing the path planning method for multi-color printing of any of the above embodiments.

[0100] The memory 52 stores program instructions for implementing the path planning method for multi-color printing of any of the above embodiments.

[0101] The processor 51 is configured to execute the program instructions stored in the memory 52 to perform waste planning for a 3D printer.

[0102] The processor 51 can also be referred to as a CPU (Central Processing Unit). The processor 51 can be an integrated circuit chip with signal processing capability. The processor 51 can also be a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0103] The memory 52 can be used to store the computer programs and / or modules, and the processor 51 realizes various functions of the electronic device by running or executing the computer programs and / or modules stored in the memory 52, and calling the data stored in the memory 52. The memory 52 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required by a function, etc.

[0104] The memory 52 can be integrated in the processor 51, or can be provided separately from the processor 51.

[0105] The embodiments of the present application provide a computer readable storage medium, and a structural schematic diagram thereof is shown in the figure. Figure 6As shown, the storage medium 60 stores a readable computer program 61; wherein the computer program 61 can be stored in the above storage medium in the form of a software product, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. And the aforementioned storage medium includes: a U disk, a mobile hard disk, a magnetic or optical disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), and various other program code storage media, or a computer, a server, a mobile phone, a tablet, and other terminal devices.

[0106] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are only schematic, for example, the division of the above modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed modules can be indirect coupling or communication connection through some interfaces, devices or modules, and can be electrical, mechanical or other forms.

[0107] The modules described above as separate components can or can not be physically separate, and the components displayed as modules can or can not be physical modules, that is, they can be located in one place, or can be distributed to a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0108] In addition, the functional modules in each embodiment of the present application can be integrated in one processing module, or each module can exist physically, or two or more modules can be integrated in one module. The above integrated module can be realized in the form of hardware or in the form of software functional module. When the above integrated module is realized in the form of software functional module and sold or used as an independent product, it can be stored in a computer readable storage medium.

[0109] In the above embodiments, all or part of them can be realized by software, hardware, firmware or any combination thereof. When realized by software, all or part of them can be realized in the form of a computer program product.

[0110] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described above according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be stored by the computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0111] The technical solutions provided by the present application are described in detail above. The principles and implementation manners of the present application are described by applying specific examples. The above examples are only used to help understand the method and core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range can be changed. Therefore, the content of the description should not be understood as a limitation of the present application.

[0112] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0113] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices and computer program products of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a means for implementing the functions described in the flowcharts and / or block diagrams. Figure 1apparatus for performing the functions specified in the flow or flows and / or blocks. Figure 1

[0114] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 apparatus for performing the functions specified in the flow or flows and / or blocks. Figure 1

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 apparatus for performing the functions specified in the flow or flows and / or blocks. Figure 1

[0116] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of theapplicable prior art, the application can be practiced otherwise than as specifically described herein.​​

Claims

1. A path planning method for multi-color printing, applied to a 3D printer, characterized in that, The method comprises the following steps: Obtain color information corresponding to a printing model, the printing model having at least two colors, and calculate waste values corresponding to consumables of different two colors when switching, Obtain a red channel, a green channel and a blue channel of the three primary colors of the color, Obtain the distance between any two different colors according to the red channel, the green channel and the blue channel of the three primary colors of the color, According to a preset minimum waste value, a preset maximum waste value, a distance between different two colors, and a waste value calculation formula, a corresponding waste value of consumables of different two colors when switching is obtained, and the waste value calculation formula includes wherein E1 is the preset minimum waste value, E2 is the preset maximum waste value, and n1 is a normalized value of the distance between different two colors. Slice the printing model according to the preset height and the color information to obtain contour information of a plurality of slice layers; Based on the contour information, obtain a first printing path of each slice layer; For the slice layer having two or more colors, obtain the flushing volume of the consumables of different two colors within the contour of the slice layer when switching according to the first printing path corresponding to the slice layer; For the slice layer having two or more colors, determine the planning of the waste value according to the flushing volume and the waste value to obtain a second printing path.

2. The method of claim 1, wherein, The method comprises the following steps: Obtain support data and Z seam data, and merge the first vertex data of the printing model, the first triangular face of the printing model and the color information corresponding to the first triangular face with the support data and the Z seam data to form model data; Slice the printing model according to the preset height and the model data.

3. The method of claim 1, wherein, The method comprises the following steps: Merge the first vertex data of the printing model, the first triangular face of the printing model and the color information corresponding to the first triangular face to form colored slice data; Obtain support data and Z seam data, and slice the support data and the Z seam data into first path planning data and second path planning data respectively, and form model data according to the colored slice data, the first path planning data and the second path planning data; Slice the printing model according to the preset height and the model data.

4. The method of claim 1, wherein, The contour information comprises coordinate point information of each color contour distinguished based on color, and the color contour has one or more; The method comprises the following steps: For each slice layer, obtain the path area of each color contour according to the coordinate point information of one or more color contours, and obtain the first printing path of each slice layer according to the path area and a preset filling density.

5. The method of claim 1, wherein, After obtaining the contour information of a plurality of slice layers, the method further comprises the following steps: Determine whether the current slice layer includes two or more colors, and if not, use the first printing path of the current slice layer as the final printing path of the current slice layer.

6. The method of claim 1, wherein, The method comprises the following steps: According to the first printing path and the preset nozzle corresponding consumable flow, the flushing volume of the different two colors of consumables in the profile of the slice layer is obtained when switching.

7. The method of claim 1, wherein, According to the flushing volume and the waste value, the planning of the waste value is determined to obtain a second printing path, including: If the flushing volume is less than the waste value, the waste value of the flushing volume size is planned in the first printing path, and the remaining waste value is planned in the paint tower to obtain the second printing path.

8. A 3D printer characterized by, It includes a data acquisition module, a slicing module, a first printing path acquisition module, a flushing volume acquisition module, and a second printing path acquisition module. The data acquisition module is configured to obtain color information corresponding to a printing model, the printing model having at least two colors, and calculate the waste value of the different two colors of consumables when switching, including, Obtaining the three primary colors R channel, three primary colors G channel and three primary colors B channel of the color, According to the three primary colors R channel, the three primary colors G channel and the three primary colors B channel, the distance between any two different colors is obtained, According to a preset minimum waste value, a preset maximum waste value, a distance between different two colors, and a waste value calculation formula, a corresponding waste value of consumables of different two colors when switching is obtained, and the waste value calculation formula includes wherein E1 is the preset minimum waste value, E2 is the preset maximum waste value, and n1 is a normalized value of the distance between different two colors. The slicing module is configured to slice the printing model according to a preset height and the color information to obtain profile information of a plurality of slice layers; The first printing path acquisition module is configured to obtain a first printing path for each slice layer based on the profile information; The flushing volume acquisition module is configured to, for the slice layer with two or more colors, according to the first printing path, obtain the flushing volume of the different two colors of consumables in the profile of the slice layer when switching. The second printing path acquisition module is configured to, for the slice layer with two or more colors, according to the flushing volume and the waste value, determine the planning of the waste value to obtain a second printing path.

9. An electronic device comprising a memory, a processor, the memory storing a computer program executable by the processor, characterized in that, The processor executes the computer program to realize the path planning method of multi-color printing according to any one of claims 1-7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to realize the path planning method of multi-color printing according to any one of claims 1-7.

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