3D printing path planning method and device based on sine curve and medium

Abstract

The invention discloses a 3D printing path planning method and device based on a sine curve and a medium, and relates to the technical field of 3D printing. The method comprises the following steps: slicing and layering a 3D printing model to obtain a contour line of a target slice; setting a starting point and an ending point on the contour line, and dividing the corresponding contour line into an upper contour and a lower contour; the same number of points are uniformly arranged on the upper contour and the lower contour respectively, each upper contour segmentation point is connected with the corresponding lower contour segmentation point to obtain a plurality of segmentation lines, and the connecting line of the midpoints of the segmentation lines serves as the central axis of the filling path; according to the trend of the central axis, parameter information of a filling path of the to-be-filled sine curve is set, and the printing sequence of the to-be-filled sine curve is determined; and the amplitude of the to-be-filled sine curves is preset according to the length of the parting lines, and the filling path of each to-be-filled sine curve is determined according to the parameter information and the printing sequence. The printing time can be shortened, the strength of a printed piece is enhanced, and the 3D printing quality is improved.

Description

Technical Field

[0001] The present invention relates to the field of 3D printing technology, and in particular to a 3D printing path planning method, device and medium based on a sine curve. Background Art

[0002] 3D printing technology is a printing device that prints layer by layer according to the created model with the assistance of a computer. It is also called additive manufacturing technology. Common 3D printing processes include selective laser sintering (SLS), stereolithography (SLA), layered object manufacturing (LOM), three-dimensional powder bonding molding (3DP), and fused deposition modeling (FDM). Compared with traditional manufacturing processes, 3D printing technology has many advantages. It does not require molds, integrated molding, shortens product development cycles, and reduces R&D costs. A variety of materials can be selected, including plastics, metals, and ceramics. It increases design freedom and can print complex geometric models. 3D printing technology has a wide range of applications. It is used in the aerospace field to manufacture parts with complex shapes; in the automotive manufacturing industry, it is used for new product development and small-batch part production; in biomedicine, it is used for tissue regeneration and model printing; in the construction field, it can be directly used to print the overall structure of the building, shortening the construction period and reducing costs.

[0003] The process of 3D printing usually includes four parts: model building, slicing, path planning, and printing. Design and build a three-dimensional model, generate a model file for slicing; cut the model into several layers according to the model forming direction, obtain the contour line of each layer of the model; fill the contour offset, parallel lines, grids and other filling paths in the area surrounded by the contour lines; finally generate G code for 3D printing. The filling path determines the internal structure of the printed model, affecting the mechanical properties, printing time, and molding quality of the model.

[0004] In the existing path planning methods, the internal structure of the model printed by the contour offset filling method is fixed and cannot cope with various stress conditions. The model filling density cannot be changed, resulting in material waste. The parallel line and grid filling methods allow the filling density and filling angle of the model to be adjusted, but the breakpoints on the path, the start and stop of the nozzle, and the number of extruder retractions are greatly increased. When printing continuous fibers, the parallel line filling structure often only has a single fiber under stress on a certain cross section, and the path reciprocates and turns at large angles many times. The grid filling structure is prone to multiple breakpoints that weaken the model strength, increase the number of shears, and print time. Summary of the invention

[0005] The purpose of the present invention is to provide a 3D printing path planning method, device and medium based on a sine curve, which can shorten the printing time, enhance the strength of the printed part and improve the 3D printing quality.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A 3D printing path planning method based on a sine curve, the method comprising:

[0008] Build 3D printed models;

[0009] Slicing and layering the 3D printed model to obtain a plurality of slices;

[0010] Determine a target slice from the plurality of slices, and obtain a contour line of the target slice;

[0011] Two points are set on the contour line, one of which is called a starting point and the other is called an ending point, and the starting point and the ending point divide the corresponding contour line into an upper contour and a lower contour;

[0012] The same number of points are evenly set on the upper contour and the lower contour of the contour line to obtain a plurality of upper contour segmentation points and a plurality of lower contour segmentation points, and the upper contour segmentation points correspond to the lower contour segmentation points one by one, each of the upper contour segmentation points is connected with the corresponding lower contour segmentation point to obtain a plurality of segmentation lines, and the line connecting the midpoints of each of the segmentation lines of each of the contour lines is used as the central axis of the filling path;

[0013] Setting parameter information of the sinusoidal filling path to be filled; the parameter information includes the starting position, the ending position, the number of sinusoids, the period length of the sinusoids, the starting position amplitude of the sinusoids, and the ending position amplitude of the sinusoids;

[0014] Determining the printing order of the sinusoidal curves to be filled according to the number of the sinusoidal curves, the connection relationship between the starting positions of the sinusoidal curves to be filled, and the connection relationship between the ending positions;

[0015] The amplitude of the sine curve to be filled is preset according to the length of the dividing line, with the central axis as the X-axis and the dividing line as the Y-axis, and the intersection points of each sine curve to be filled on the dividing line are determined according to the period length of the sine curve, the starting position amplitude of the sine curve and the ending position amplitude of the sine curve, and the filling path of each sine curve to be filled is determined according to the intersection points and the printing order.

[0016] Optionally, the dividing point is moved in a direction such that the ratio of two angles formed by the dividing line and the upper contour is equal to the ratio of two angles formed by the dividing line and the lower contour, and the upper dividing point and the lower dividing point are evenly distributed; the dividing lines do not intersect in the filling area.

[0017] Optionally, the phase difference between adjacent sinusoidal curves to be filled is 2π / n, wherein n is the number of sinusoidal curves.

[0018] Optionally, the starting position and the ending position are set at the crest, trough or intersection of the sine curve to be filled; the intersection is the intersection of two sine curves to be filled.

[0019] Optionally, when the amplitude of the sine curve to be filled corresponding to the starting point is smaller than the amplitude of the starting position, the amplitude of the starting position is used as the amplitude of the sine curve to be filled corresponding to the starting point; when the amplitude of the sine curve to be filled corresponding to the ending point is smaller than the amplitude of the ending position, the amplitude of the ending position is used as the amplitude of the sine curve to be filled corresponding to the ending point.

[0020] Optionally, determining the printing order of the sinusoidal curves to be filled according to the number of the sinusoidal curves, the connection relationship between the starting positions of the sinusoidal curves to be filled, and the connection relationship between the ending positions specifically includes:

[0021] From the starting position to the ending position, numbering each of the to-be-filled sinusoidal curves in sequence according to the order in which the wave peaks appear and the number of the sinusoidal curves, to obtain the line number of each of the to-be-filled sinusoidal curves;

[0022] Determine the starting point of the next printed sine curve connected to the end point of the currently printed sine curve according to the connection relationship between the starting positions and the connection relationship between the end positions of the sine curves to be filled;

[0023] Determine whether the same line number is repeatedly obtained at the starting position or the ending position;

[0024] When the same line number is repeatedly obtained at the starting position or the ending position of the currently printed sine curve, the line number that is not in the printing order is used as the currently printed sine curve, and so on to determine the printing order of the sine curve to be filled.

[0025] Optionally, when the filling path of the to-be-filled sinusoidal curve exceeds the contour line, the exceeded contour line is used as the corresponding filling path of the to-be-filled sinusoidal curve.

[0026] A computer device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any one of the above-mentioned sine curve-based 3D printing path planning methods.

[0027] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements any of the above-mentioned sine curve-based 3D printing path planning methods.

[0028] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0029] The present invention discloses a 3D printing path planning method, device and medium based on sine curves, which obtains contour line point set data by constructing a model and performing layered slicing; evenly divides the contour; sets relevant parameters of the filling curve and the starting position and ending position of the sine filling path; numbers the filling curves and determines the order of all curves; obtains the coordinate points of the sine curve on the dividing line, and connects them in sequence to obtain a complete sine filling path. The path planning method provided by the present invention makes the sine curve evenly and continuously distributed in the filling contour, thereby improving the printing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A schematic flow chart of a 3D printing path planning method based on a sine curve provided in Example 1 of the present invention;

[0032] Figure 2 This is a schematic diagram of the model slice outline;

[0033] Figure 3 Schematic diagram of the model slicing and segmentation method;

[0034] Figure 4 Schematic diagram of the model segmentation results

[0035] Figure 5 A schematic diagram of the basic graphics for the sinusoidal fill path;

[0036] Figure 6 Fill the schematic for the sinusoidal fill path;

[0037] Figure 7 Schematic diagram of the path filling for a sinusoidal fill with increasing contact area with the contour;

[0038] Figure 8 Schematic diagram of the sample printed by applying a sinusoidal filling path with an increased contact area with the contour;

[0039] Fig. 9 This is a diagram of the internal structure of a computer device. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] The purpose of the present invention is to provide a 3D printing path planning method, device and medium based on a sine curve, aiming to shorten the printing time, enhance the strength of the printed part and improve the 3D printing quality.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Example 1

[0044] like Figure 1 As shown, the 3D printing path planning method based on sine curve in this embodiment includes:

[0045] Step S1: constructing a 3D printing model.

[0046] Step S2: Slicing and layering the 3D printing model to obtain a plurality of slices.

[0047] Step S3: determining a target slice from the plurality of slices, and obtaining a contour line of the target slice, wherein the target slice is selected according to actual needs.

[0048] Step S4: setting two points on the contour line, one of which is called a starting point and the other is called an ending point, and the starting point and the ending point divide the corresponding contour line into an upper contour and a lower contour.

[0049] Step S5: Evenly set the same number of points on the upper contour and the lower contour of the contour line, respectively, to obtain multiple upper contour segmentation points and multiple lower contour segmentation points, and the upper contour segmentation points and the lower contour segmentation points correspond one to one, connect each of the upper contour segmentation points with the corresponding lower contour segmentation point to obtain multiple segmentation lines, and use the line connecting the midpoints of each segmentation line of each of the contour lines as the central axis of the filling path.

[0050] Specifically, the dividing point is moved in a direction that makes the ratio of the two angles formed by the dividing line and the upper contour equal to the ratio of the two angles formed by the dividing line and the lower contour, and the upper dividing point and the lower dividing point are evenly distributed; the dividing lines do not intersect in the filling area.

[0051] Step S6: setting parameter information of the sinusoidal filling path to be filled; the parameter information includes the starting position, the ending position, the number of sinusoids, the period length of the sinusoids, the starting position amplitude of the sinusoids and the ending position amplitude of the sinusoids.

[0052] Step S7: Determine the printing order of the sinusoidal curves to be filled according to the number of the sinusoidal curves, the connection relationship between the starting positions of the sinusoidal curves to be filled, and the connection relationship between the ending positions.

[0053] S7 specifically includes:

[0054] Step S71: numbering each of the to-be-filled sinusoidal curves in sequence from the starting position to the ending position according to the order in which the wave peaks appear and the number of the sinusoidal curves to obtain the line number of each of the to-be-filled sinusoidal curves.

[0055] Specifically, according to the number of the sinusoidal curves, each of the sinusoidal curves to be filled is numbered, and numbered in sequence from the starting position to the ending position according to the order in which the peaks appear: 1, 2, ..., n-1, n; and the line number of each of the sinusoidal curves to be filled is obtained.

[0056] Step S72: determining the starting point of the next printed sine curve connected to the end point of the currently printed sine curve according to the connection relationship between the starting positions and the connection relationship between the end positions of the sine curves to be filled.

[0057] Step S73: Determine whether the same line number is repeatedly obtained at the starting position or the ending position.

[0058] Step S74: when the same line number is repeatedly obtained at the starting position or the ending position of the currently printed sine curve, the line number that is not in the printing order is used as the currently printed sine curve, and so on, to determine the printing order of the sine curve to be filled.

[0059] Step S8: preset the amplitude of the sine curve to be filled according to the length of the dividing line, with the central axis as the X-axis and the dividing line as the Y-axis, and determine the intersection of each sine curve to be filled on the dividing line according to the period length of the sine curve, the starting position amplitude of the sine curve and the ending position amplitude of the sine curve, and determine the filling path of each sine curve to be filled according to the intersection and the printing order.

[0060] Specifically, when the filling path of the to-be-filled sinusoidal curve exceeds the contour line, the contour line is used to replace the corresponding to-be-filled sinusoidal curve as the filling path.

[0061] As a specific implementation, the phase difference between adjacent sinusoidal curves to be filled is 2π / n, wherein n is the number of sinusoidal curves.

[0062] As a specific implementation, the starting position and the ending position are set at the crest, trough or intersection of the sine curve to be filled; the intersection is the intersection of two sine curves to be filled.

[0063] As a specific implementation, when the amplitude of the sine curve to be filled corresponding to the starting point is smaller than the amplitude of the starting position, the amplitude of the starting position is used as the amplitude of the sine curve to be filled corresponding to the starting point; when the amplitude of the sine curve to be filled corresponding to the ending point is smaller than the amplitude of the ending position, the amplitude of the ending position is used as the amplitude of the sine curve to be filled corresponding to the ending point.

[0064] In practical applications, the specific implementation steps of the present invention are as follows:

[0065] (1) Build the model and perform layered slicing to obtain contour point set data. The contour line is as follows: Figure 2 shown.

[0066] (2) Set the starting point and the ending point on the contour line. These two points divide the contour line into an upper contour and a lower contour. Different starting points and ending points result in different directions of the filling path through the graphics. The starting point and the ending point can be freely set according to actual needs.

[0067] (3) Take the connecting lines of the points on the upper and lower contour lines as the contour segmentation lines, such as Figure 3 As shown. Make the dividing lines evenly arranged from the starting point to the end point. Figure 4 As shown, the line connecting the midpoints of the dividing lines is defined as the central axis of the filling path.

[0068] (4) Set the starting position, ending position, number of filling curves, cycle length, and the starting position and ending position amplitude of the sine curve filling path. The starting position and ending position refer to the beginning and ending positions of the filling path curve. Figure 5 The start point and end point are points on the contour line, and the start position and end position refer to the positions on the fill path.

[0069] The basic graphics of the sine curve filling path are as follows Figure 5 As shown in the figure, the number of filling curves is set to 5, and the sine curve goes through 2.2 cycle lengths from the starting position to the ending position. The amplitudes of the starting position and the ending position are set to 5 mm.

[0070] (5) Number the sine curve and obtain the line numbers of the starting and ending positions of the curve, such as Figure 4 shown.

[0071] (6) Determine the path order of each sine curve. The starting curve is curve No. 1, and its printing order is 1. At the end position, find the line number of the curve that intersects with curve No. 1, and its order is 2. Alternately obtain the line numbers at the starting position and the end position until the order of all curves is determined.

[0072] Determine the path order of each sine curve. The starting curve is curve No. 1, and its printing order is 1. The line number of the curve corresponding to curve No. 1 at the end position is 3, and its order is 2. The line numbers are obtained alternately at the starting position and the end position. Finally, the printing order of all curves is 1→3→4→5→2.

[0073] (7) Draw a curve. The amplitude of the sine curve is 0.5 times the length of the segment. The central axis is the x-axis of the sine path, and the segment is the y-axis of the sine path. The coordinate points of the sine curve are obtained on the segment. They are connected in sequence to obtain a complete sine filling path as shown in Figure 6 shown.

[0074] In the step (3), the upper contour points are denoted as S0, S1, S2, ..., S i , …, S p The lower contour points are S'0, S'1, S'2, ..., S' j ,…,S' q The initial values ​​of i and j are 1, K and K' are the ratios of the two angles after the line segment is segmented, p is the number of upper contour points, and q is the number of lower contour points. The specific steps include:

[0075] (3-1) Connecting line segment S i S' j , the ratio of two adjacent angles K ij =∠S i-1 S i S' j / ∠S' j S i S i+1 , K' ij =∠S' j-1 S' j S i / ∠S i S' j S' j+1 .

[0076] (3-2) If K ij <K’ ij , find the straight line S i-1 S i K mj =K' mj point M, then line segment MS'j is the dividing line of the contour, point M is point S' j The split point on the upper contour. If point M is on line segment S i-1 S i External point S i-1 One side (including point S i-1 ), then point M is point S i-1 If point M is on line segment S i-1 S i External point S i One side (including point S i ), then point M is point S i , i=i+1. j=j+1, the steps start from (3-1).

[0077] If K ij >K' ij , the method is the same as K ij <K’ ij .

[0078] If K ij =K' ij , then line segment S i S' j is the dividing line of the contour, i=i+1, j=j+1, and the steps start from (3-1).

[0079] (3-3) When the execution reaches the end point of the upper or lower contour, the remaining points of the other contour correspond to its end point. Finally, the segmentation points on the upper and lower contours correspond one to one.

[0080] (3-4) Find the repeated segmentation points and distribute them on the contour between the two points before and after them in equal proportion according to their corresponding points.

[0081] (3-5) Set the range of the distance between the midpoints of adjacent cutting lines. When the distance is less than the lower limit of the range, delete the cutting line. When the distance is greater than the upper limit of the range, insert the cutting line in proportion.

[0082] In the step (4), the sinusoidal function with a period of T is:

[0083]

[0084] Where A is the amplitude, ω is the angular frequency, is the initial phase. The number of curves is used to adjust the filling density. The more sine curves there are, the greater the filling density. The period is used to adjust the filling angle of the filling sine curve.

[0085] N sinusoidal filling curves with the same period are evenly distributed, and the phase difference between adjacent curves is 2π / n. The first peak sinusoidal curve is numbered 1, the second peak sinusoidal curve is numbered 2, and so on. The sinusoidal curve of the nth peak is numbered n.

[0086] Specifically, 5 sinusoidal filling curves with the same period are evenly distributed, and the phase difference between adjacent curves is 2π / n. The first peak sinusoidal curve is numbered 1, the second peak sinusoidal curve is numbered 2, and so on, and the sinusoidal curve of the fifth peak is numbered 5.

[0087] The starting position and the ending position of the filling path are set at the crest, trough or intersection of the sine curve. The starting point of the filling path is set at the crest, trough or intersection of the sine curve No. 1 or the intersection of the sine curve No. 1 and the sine curve No. n.

[0088] Specifically, the starting point of the filling path is set at the peak of the No. 1 sine curve.

[0089] In the step (6), before obtaining the order of all curves, when the line number of the same curve is repeatedly obtained at the starting position or the ending position, the curve whose order has not been determined at this position is reset as a new starting point to re-obtain the line number until the order of all curves is determined.

[0090] In step (7), when the amplitude of the sine curve is set to be greater than 0.5 times the length of the dividing line, the sine path exceeds the contour, and the part of the path exceeding the contour is cut off using the contour line as the cutting line. The contact area between the obtained path and the contour is increased, thereby obtaining better boundary quality.

[0091] Specifically, when the amplitude of the sine curve is set to 1.05 times the original value, the contact area between the path and the contour increases, and better boundary quality is obtained. Figure 7 As shown, the printed sample is as follows Figure 8 shown.

[0092] Figure 6 Fill the schematic for the sinusoidal fill path; Figure 7 Schematic diagram of the path filling for a sinusoidal fill with increasing contact area with the contour; Figure 7 and Figure 6 The difference is: Figure 7 The contact area between the path and the contour increases, which is caused by cutting off the part of the path that exceeds the contour using the contour line as the cutting line.

[0093] In the 3D printing path planning method based on sine curve provided by the present invention, the sine curve filling path is a sine formed by the staggered superposition of multiple sine curves, and the sine curves are continuous and evenly distributed within the filling range. This path planning method increases the continuity of the filling path, the sine curve path is smoother, the direction is consistent with the contour curvature, and the contour is better fitted, the number of starts and stops of the extrusion and moving motors is reduced, and the printing time is shortened. At the same time, the structure of the filling path is adjusted by changing the parameters of the sine curve, the strength of the printed part is enhanced, and the quality of 3D printing is improved.

[0094] Example 2

[0095] A computer device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the sine curve-based 3D printing path planning method in Example 1.

[0096] Example 3

[0097] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the sine curve-based 3D printing path planning method in Example 1.

[0098] Example 4

[0099] A computer program product includes a computer program, which, when executed by a processor, implements the sine curve-based 3D printing path planning method in embodiment 1.

[0100] Example 5

[0101] A computer device, which may be a database, may have an internal structure as shown in Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store pending transactions. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the 3D printing path planning method based on sine curves in Example 1 is implemented.

[0102] It should be noted that the object information (including but not limited to object device information, object personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0103] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided by the present invention may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processor involved in each embodiment provided by the present invention may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited thereto.

[0104] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0105] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A 3D printing path planning method based on sine curves, It is characterized in that The method comprises: Build 3D printed models; Slicing and layering the 3D printed model to obtain a plurality of slices; Determine a target slice from the plurality of slices, and obtain a contour line of the target slice; Two points are set on the contour line, one of which is called a starting point and the other is called an ending point, and the starting point and the ending point divide the corresponding contour line into an upper contour and a lower contour; The same number of points are evenly set on the upper contour and the lower contour of the contour line to obtain a plurality of upper contour segmentation points and a plurality of lower contour segmentation points, and the upper contour segmentation points correspond to the lower contour segmentation points one by one, each of the upper contour segmentation points is connected with the corresponding lower contour segmentation point to obtain a plurality of segmentation lines, and the line connecting the midpoints of each of the segmentation lines of each of the contour lines is used as the central axis of the filling path; Setting parameter information of the sinusoidal filling path to be filled; the parameter information includes the starting position, the ending position, the number of sinusoids, the period length of the sinusoids, the starting position amplitude of the sinusoids, and the ending position amplitude of the sinusoids; Determining the printing order of the sinusoidal curves to be filled according to the number of the sinusoidal curves, the connection relationship between the starting positions of the sinusoidal curves to be filled, and the connection relationship between the ending positions; The amplitude of the sine curve to be filled is preset according to the length of the dividing line, with the central axis as the X-axis and the dividing line as the Y-axis, and the intersection points of each sine curve to be filled on the dividing line are determined according to the period length of the sine curve, the starting position amplitude of the sine curve and the ending position amplitude of the sine curve, and the filling path of each sine curve to be filled is determined according to the intersection points and the printing order.

2. The 3D printing path planning method based on sine curve according to claim 1, It is characterized in that The dividing point is moved in a direction such that the ratio of the two angles formed by the dividing line and the upper contour is equal to the ratio of the two angles formed by the dividing line and the lower contour, and the upper dividing point and the lower dividing point are evenly distributed; the dividing lines do not intersect in the filling area.

3. The 3D printing path planning method based on sine curve according to claim 1, It is characterized in that The phase difference between adjacent sinusoidal curves to be filled is 2π / n, wherein n is the number of sinusoidal curves.

4. The 3D printing path planning method based on sine curve according to claim 1, It is characterized in that The starting position and the ending position are set at the crest, trough or intersection of the sine curve to be filled; the intersection is the intersection of two sine curves to be filled.

5. The 3D printing path planning method based on sine curve according to claim 1, It is characterized in that When the amplitude of the sinusoidal curve to be filled corresponding to the starting point is smaller than the amplitude of the starting position, the amplitude of the starting position is used as the amplitude of the sinusoidal curve to be filled corresponding to the starting point; When the amplitude of the to-be-filled sinusoidal curve corresponding to the end point is smaller than the end position amplitude, the end position amplitude is used as the amplitude of the to-be-filled sinusoidal curve corresponding to the end point.

6. The 3D printing path planning method based on sine curve according to claim 1, It is characterized in that Determining the printing order of the sinusoidal curves to be filled according to the number of the sinusoidal curves, the connection relationship between the starting positions of the sinusoidal curves to be filled, and the connection relationship between the ending positions, specifically includes: From the starting position to the ending position, numbering each of the to-be-filled sinusoidal curves in sequence according to the order in which the wave peaks appear and the number of the sinusoidal curves, to obtain the line number of each of the to-be-filled sinusoidal curves; Determine the starting point of the next printed sine curve connected to the end point of the currently printed sine curve according to the connection relationship between the starting positions and the connection relationship between the end positions of the sine curves to be filled; Determine whether the same line number is repeatedly obtained at the starting position or the ending position; When the same line number is repeatedly obtained at the starting position or the ending position of the currently printed sine curve, the line number that is not in the printing order is used as the currently printed sine curve, and so on to determine the printing order of the sine curve to be filled.

7. The 3D printing path planning method based on sine curve according to claim 1, It is characterized in that When the filling path of the to-be-filled sinusoidal curve exceeds the contour line, the exceeded contour line is used as the corresponding filling path of the to-be-filled sinusoidal curve.

8. A computer device, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the sine curve-based 3D printing path planning method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the sine curve-based 3D printing path planning method described in any one of claims 1 to 7 is implemented.

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