Multi-galvanometer boundary planning method and device, electronic equipment and storage medium

Abstract

The invention provides a multi-galvanometer boundary planning method and device, electronic equipment and a computer readable storage medium, and belongs to the technical field of additive manufacturing, and the method comprises the steps that candidate target lines are determined according to target lines where intersection points of multiple target lines and initial boundaries of two adjacent galvanometers are located; if adjacent candidate target lines in the candidate target lines are connected end to end and intersection points exist between the candidate target lines and the breadth boundary lines, determining the line connecting two breadth boundary lines in broken lines formed by connecting the candidate target lines end to end as a candidate boundary line; if at least one group of intersection-point-free adjacent candidate target lines which are adjacent but have no intersection point exist in the candidate target lines, or the candidate target lines are not intersected with the breadth boundary line, constructing a bridging line; determining a broken line connecting the two breadth boundary lines in broken lines formed by the candidate target line and the bridging line as a candidate boundary line; and determining a target boundary according to the candidate boundary. The number of short filling line segments caused by boundaries of adjacent galvanometers can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of additive manufacturing technology, and in particular to a method, device, electronic device and computer-readable storage medium for planning a multi-galvanometer boundary line. Background Art

[0002] The galvanometer, also known as a laser scanner, is generally composed of an XY optical scanning head, an electronic drive amplifier, and an optical reflective lens. The signal provided by the computer controller drives the optical scanning through the drive amplifier circuit, thereby controlling the deflection of the laser beam in the XY plane.

[0003] When the forming format is small, only one galvanometer can be used for printing, but when the forming format is large, multiple galvanometers are usually used for printing to ensure printing efficiency. The division of the printing area responsible for multiple galvanometers can be divided into the same number of areas as the number of galvanometers according to the area, or the same number of areas as the number of galvanometers according to the task volume, with each galvanometer responsible for one area.

[0004] However, for two adjacent printing areas, since the dividing line cuts off the fill line segments, more short fill line segments appear. More short fill line segments not only affect the printing efficiency, but also cause the printing quality to decline. Summary of the invention

[0005] The present disclosure provides a planning method, device, electronic device and computer-readable storage medium for a multi-galvanometer boundary line, which can reduce the number of short filling line segments caused by the boundary lines of adjacent galvanometers.

[0006] The technical solution of the present disclosure is achieved as follows:

[0007] In a first aspect, the present disclosure provides a method for planning a multi-galvanometer boundary line, the method comprising: determining a candidate target line according to a target line where the intersection of multiple target lines and initial boundary lines of two adjacent galvanometers is located, the target line being a filling line segment or a partition boundary line; if adjacent candidate target lines in the candidate target lines are connected end to end, and at least one candidate target line has an intersection with a first format boundary line and at least one candidate target line has an intersection with a second format boundary line, then determining a continuous broken line connecting the first format boundary line and the second format boundary line among a plurality of continuous broken lines formed by two adjacent candidate target lines connected end to end as The candidate dividing line, the first format boundary line and the second format boundary line are format boundary lines in the formed format that are perpendicular to the initial dividing line; if there is at least one group of adjacent candidate target lines without intersection in the candidate target lines, or the candidate target lines do not intersect with the first format boundary line, or the candidate target lines are all intersecting with the second format boundary line, then a bridge line is constructed; among the multiple continuous broken lines formed by two adjacent end-to-end connected candidate target lines and bridge lines, a continuous broken line connecting the first format boundary line and the second format boundary line is determined as a candidate dividing line; based on at least one candidate dividing line, a target dividing line is determined.

[0008] In a second aspect, the present disclosure provides a planning device for a multi-galvanometer boundary line, the device comprising: a determining part; the determining part is configured to determine a candidate target line according to a target line where the intersection of multiple target lines and the initial boundary line of two adjacent galvanometers is located, the target line being a filling line segment or a partition boundary line; and if adjacent candidate target lines in the candidate target lines are connected end to end, and at least one candidate target line has an intersection with a first format boundary line and at least one candidate target line has an intersection with a second format boundary line, then among the multiple continuous broken lines consisting of two adjacent candidate target lines connected end to end, a continuous broken line connecting the first format boundary line and the second format boundary line is selected. A broken line is determined as a candidate boundary line, and the first format boundary line and the second format boundary line are format boundary lines in the formed format that are perpendicular to the initial boundary line; and, if there is at least one group of adjacent candidate target lines without intersections in the candidate target lines, or the candidate target lines do not intersect with the first format boundary line, or the candidate target lines are all intersecting with the second format boundary line, then a bridge line is constructed; and, among a plurality of continuous broken lines consisting of two adjacent broken lines in the candidate target lines and the bridge lines connected end to end, a continuous broken line connecting the first format boundary line and the second format boundary line is determined as a candidate boundary line; and, based on at least one candidate boundary line, a target boundary line is determined.

[0009] In a third aspect, the present disclosure provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the multi-galvanometer dividing line planning method as described in the first aspect.

[0010] In a fourth aspect, the present disclosure provides a computer-readable storage medium storing a program or instruction, which, when executed by a processor, implements the steps of the multi-galvanometer boundary line planning method as described in the first aspect.

[0011] In a fifth aspect, the present disclosure provides a computer program product, wherein the computer program product includes a computer program or instructions. When the computer program product runs on a processor, the processor executes the computer program or instructions to implement the steps of the multi-galvanometer boundary line planning method as described in the first aspect.

[0012] In a sixth aspect, the present disclosure provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the multi-galvanometer boundary line planning method as described in the first aspect.

[0013] The present invention provides a planning method for a multi-galvanometer boundary line, the method comprising: determining a candidate target line according to a target line where the intersection of multiple target lines and initial boundary lines of two adjacent galvanometers is located, the target line being a filling line segment or a partition boundary line; if adjacent candidate target lines in the candidate target lines are connected end to end, and at least one candidate target line has an intersection with a first format boundary line and at least one candidate target line has an intersection with a second format boundary line, then determining a continuous broken line connecting the first format boundary line and the second format boundary line among multiple continuous broken lines formed by two adjacent candidate target lines connected end to end as a candidate target line; The first format boundary line and the second format boundary line are format boundary lines in the formed format that are perpendicular to the initial boundary line; if there is at least one group of adjacent candidate target lines without intersections in the candidate target lines, or the candidate target lines do not intersect with the first format boundary line, or the candidate target lines are all intersecting with the second format boundary line, then a bridge line is constructed; among the multiple continuous broken lines formed by two adjacent end-to-end connected lines in the candidate target lines and the bridge line, the continuous broken line connecting the first format boundary line and the second format boundary line is determined as a candidate boundary line; according to at least one candidate boundary line, the target boundary line is determined. For the formed format printed by multiple galvanometers, the existence of the initial boundary line at the boundary of the printing area of ​​two adjacent galvanometers will lead to an increase in the number of small partitions. Since the small partitions need to be filled with short filling line segments, the number of short filling line segments will increase. In the scheme disclosed in the present invention, for the formed format that has been partitioned, the same partition is divided into two galvanometers for printing as little as possible, that is, the number of small partitions is reduced; for the formed format that has not been partitioned, the target dividing line is also along the filling line segment, which will also reduce the number of small partitions caused by the initial dividing line; therefore, as the number of small partitions decreases, the short filling line segments also decrease, thereby improving the printing efficiency while also improving the printing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1a One of the schematic diagrams of filling line segments in a non-partitioned forming format provided by the present disclosure;

[0015] Figure 1b The second schematic diagram of filling line segments in a non-partitioned forming format provided by the present disclosure;

[0016] Figure 2a This is one of the schematic diagrams of partitions within a forming format under bilateral partitioning provided by the present disclosure;

[0017] Figure 2b The second schematic diagram of partitioning within a forming format under a double-sided partitioning provided by the present disclosure;

[0018] Figure 3a This is one of the schematic diagrams of partitions within a forming format under a multi-sided partition provided by the present disclosure;

[0019] Figure 3b The second schematic diagram of the partitions within the forming format under the multi-sided partition provided by the present invention;

[0020] Figure 4 A schematic diagram of the area division of a forming format under a multi-galvanometer provided by the present disclosure;

[0021] Figure 5 A schematic diagram of a flow chart of a method for planning a multi-galvanometer boundary line provided by the present disclosure;

[0022] Figure 6a A schematic diagram of candidate target lines and bridge lines for bilateral partitioning provided by the present disclosure;

[0023] Figure 6b A schematic diagram of candidate target lines and bridge lines when no partitioning is provided for the present disclosure;

[0024] Figure 6c A schematic diagram of candidate target lines and bridge lines for multilateral partitioning provided by the present disclosure;

[0025] Figure 7 A schematic diagram showing that adjacent candidate target lines have no intersection when the polygonal partitioning is provided in the present disclosure;

[0026] Figure 8 A schematic diagram showing that the candidate target line and the target width boundary line have no intersection when the polygonal partition is provided in the present disclosure;

[0027] Fig. 9 A structural block diagram of a multi-galvanometer boundary line planning device provided by the present disclosure;

[0028] Fig.10 A schematic diagram of the hardware structure of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the present disclosure to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of the present application.

[0030] The terms "first", "second", etc. in the specification of this application are used to distinguish similar objects, rather than to describe a specific order or precedence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more.

[0031] In additive manufacturing, it is usually necessary to plan the laser printing path first, and then use the galvanometer to control the laser to print along the planned path. For smaller forming formats (i.e. the smallest circumscribed rectangle of the connected area to be printed), one galvanometer can be responsible for printing. For larger forming formats, multiple galvanometers may be required to complete the printing.

[0032] For the path planning of the formed format, there are the following partitioning strategies: one is non-partitioning, that is, planning the filling line segments in the entire formed format (which can be understood as the scanning path of the laser), and the laser scans according to the filling line segments. The other is partitioning, which is divided into two-side partitions (bilateral partitions) and partitions with more than two sides (multilateral partitions). Bilateral partitioning refers to dividing the formed format into several strips, planning the filling line segments in each strip, and processing multiple strips in parallel or printing them sequentially according to the filling line segments. Multilateral partitioning refers to dividing the formed format into multiple polygonal areas, each of which can be a triangle, quadrilateral, hexagon, irregular shape, etc., planning the filling line segments in each polygonal area, and processing multiple polygonal areas in parallel or printing them sequentially according to the filling line segments. It should be noted that the filling line segments can also be polylines, and the edges of the partitions can also be polylines. In actual applications, different partitioning strategies can be adopted according to different needs, so as to optimize the printing path, reduce the moving distance and time of the print head, and improve the surface quality and structural strength of the printed part.

[0033] like Figure 1a As shown, a straight filling line segment 101 is generated in the forming surface 10 without partitioning. Figure 1a In the figure, it is shown as a dashed straight line segment; Figure 1b As shown, a curved filling line segment 101 is generated in the forming format 10 without partitioning. Figure 1bThe dashed line segments are shown in the figure, and the filled line segments 101 are the scanning path of the laser; the filled line segments 101 are the scanning path of the laser.

[0034] like Figure 2a As shown, in the case of bilateral partitioning, the forming web 10 is divided into a plurality of strip regions 102 by linear strips, such as Figure 2b As shown, in the case of bilateral partitioning, the formed web 10 is divided into a plurality of strip regions 102 by curved strips, and then a filling line segment 101 is generated in each strip region 102, and the solid lines in the formed web 10 are all partition boundary lines 20; Figure 2a and 2b Only the filled line segments in one strip area are shown, and the other strip areas are similar. The filled line segments only show straight lines, but they can also be curved lines in practice.

[0035] like Figure 3a As shown, in the case of a polygonal partition, the forming web 10 is divided into a plurality of linear quadrilateral regions 103, such as Figure 3b As shown, in the case of a polygonal partition, the forming surface 10 is divided into a plurality of curved quadrilateral regions 103, and then a filling line segment 101 is generated in each quadrilateral region 103, and the solid lines in the forming surface 10 are all partition boundary lines 20; Figure 3a and 3b Only the filled line segments in one strip area are shown, and the other strip areas are similar.

[0036] However, when the forming format is printed by multiple galvanometers, each galvanometer is responsible for printing a connected printing area. At this time, there is a dividing line between the printing areas of two adjacent galvanometers. The dividing line is determined based on the average area and the average task volume. The average area divides the forming format into areas equal to the number of galvanometers, and the average task volume divides the forming format into areas equal to the number of galvanometers. However, no matter which division method is used, the fill line segment will be truncated, resulting in more short fill line segments.

[0037] Combination Figure 3a ,like Figure 4 As shown, the formed format 10 is divided into two areas by the dividing line 104. The left area is printed by the galvanometer 1, and the right area is printed by the galvanometer 2. Then, in the area where the galvanometer 1 is responsible for printing, in the partitions 401 and 404, due to the existence of the dividing line 104, more short filling line segments will be generated; in the area where the galvanometer 2 is responsible for printing, in the partitions 402, 403 and 405, due to the existence of the dividing line 104, more short filling line segments will be generated.

[0038] If there are too many short fill line segments, the following problems will occur: the laser needs to be started and stopped frequently, resulting in reduced printing efficiency; frequent acceleration and deceleration will increase energy consumption (the motor driving the laser movement needs to repeatedly overcome inertia); the energy density at the short vector is high, resulting in reduced printing quality.

[0039] Therefore, the present disclosure aims to provide a method for planning multi-galvanometer boundary lines without adding short fill line segments during the multi-galvanometer printing process. The multi-galvanometer boundary line planning method provided by the present disclosure is described in detail below in conjunction with the accompanying drawings through specific embodiments and their application scenarios.

[0040] like Figure 5 As shown, the multi-galvanometer boundary line planning method provided by the present disclosure may include the following steps S501 to S505.

[0041] In step S501, a candidate target line is determined according to a target line where the intersection of a plurality of target lines and an initial boundary line between two adjacent galvanometers is located.

[0042] The target line is a fill line segment or a partition boundary line, and is a boundary line of a minimum printing unit in the forming format.

[0043] Optionally, the initial dividing line is determined based on the task amount of the current printing layer. For example, the initial dividing line is determined based on the average division of the task amount. In this way, the initial dividing lines of different printing layers can be dynamically determined according to actual needs.

[0044] When the forming format is not partitioned, the target line is the filling line segment. When the forming format is partitioned, the target line is the partition boundary line. The partition boundary line refers to the regional boundary line that divides the forming format into multiple regions. Figure 2a and 2b , Figure 3a and 3b It is understood that the solid lines within the forming web 10 are the partition boundaries 20 .

[0045] by Figure 6a The forming web 10 shown is bilaterally partitioned into a plurality of strip partitions. Figure 6b The forming web 10 shown is not partitioned. Figure 6c The forming format 10 shown is divided into a plurality of quadrilateral partitions by a polygon for illustration, reference numeral 601 indicates the first format boundary line, reference numeral 602 indicates the second format boundary line, reference numeral 603 indicates the initial dividing line for equally dividing the forming format 10 by area. Figure 6a The multiple partition boundary lines shown in FIG. 6 have intersections with the initial boundary line 603, so each partition boundary line is determined as a candidate target line. Figure 6bIn the embodiment, a plurality of filled line segments in the forming surface 10 shown as solid lines and having intersections with the initial boundary line 603 are determined as candidate target lines. Figure 6c In the example, partition boundary lines L1 to L9 having intersections with the initial dividing line 603 are determined as candidate target lines.

[0046] In step S502, if adjacent candidate target lines among the candidate target lines are connected end to end, and at least one candidate target line has an intersection with the first frame boundary line and at least one candidate target line has an intersection with the second frame boundary line, then among the multiple continuous broken lines formed by two adjacent candidate target lines connected end to end, the continuous broken line connecting the first frame boundary line and the second frame boundary line is determined as the candidate dividing line.

[0047] Figure 6a and 6b In the example, the candidate target lines are parallel and do not intersect, so they need to be bridged by bridge lines. Figure 6c Adjacent candidate target lines are connected end to end, so no bridge line is required.

[0048] The four sides that enclose the formed format are the format boundary lines, and the two opposite format boundary lines are parallel, and the first format boundary line and the second format boundary line are format boundary lines that are perpendicular to the initial dividing line. The formed format includes multiple target lines, so the target line and the first format boundary line will have multiple intersections, and the intersection point closest to the initial boundary line among the multiple intersections is the first first intersection point, and the target line and the second format boundary line will also have multiple intersections, and the intersection point closest to the initial boundary line among the multiple intersections is the second first intersection point. The two target lines where the two first intersections are located will intersect with the initial dividing line, and the two generated intersections are the two second intersection points.

[0049] In order to make the printing task volume or printing area of ​​the two adjacent galvanometers after division closer to the initial dividing line. Preferably, when the number of edges of the forming format partition is less than 2, a preset number of first intersections located in the forming format closest to the first format boundary line and the second format boundary line are determined from the intersections of multiple target lines and the initial dividing line of two adjacent galvanometers, as well as the second intersections of the target line where each first intersection is located with the first format boundary line and the second format boundary line. The connecting line of the first intersection and the second intersection located on the same target line is determined as a candidate target line; when the number of edges of the forming format partition is equal to 2, the target boundary point intersecting with the initial dividing line is determined from multiple partition boundary lines; the foot of the perpendicular line segment passing through the target boundary point and the adjacent partition boundary line is determined as a candidate connection point; the target boundary point and the candidate connection point located on the same target line are connected to obtain a candidate target line. When the number of edges of the forming format partition is less than 2, the target line where the intersection of multiple target lines and the initial dividing line of two adjacent galvanometers is located is determined as a candidate target line.

[0050] The target boundary point is the point where the boundary line of each strip intersects the initial dividing line. The candidate connection point is a perpendicular line segment from the target boundary point to the adjacent partition boundary line along the initial dividing line from top to bottom or from bottom to top, and the foot of the perpendicular line is recorded as the candidate connection point.

[0051] Figure 6a Taking the forming format 10 being divided into multiple strips as an example, the solid lines in the forming format 10 are all partition boundary lines, and the intersection with the initial dividing line is the target boundary point (shown as a hollow circle in the figure), and a perpendicular line segment is made from the target boundary point to the adjacent partition boundary line, and the corresponding foot of the perpendicular is the candidate connection point (shown as a solid circle in the figure); on the basis of the original candidate target line, the line connecting the hollow circle and the solid circle on the same target line is determined as the candidate target line. Figure 6b In the example, the line between the first intersection point and the second intersection point is determined as a candidate target line. The first intersection point shown in the figure is the intersection point closest to the first frame boundary line and the second frame boundary line. Figure 6c In the figure, taking the forming format being divided into quadrilaterals as an example, the solid lines in the forming format 10 are all partition boundary lines, and the partition boundary lines that intersect with the initial dividing line are recorded as candidate target lines. The candidate target lines are shown in the figure with thick lines (including those with arrows and those without arrows), including candidate target lines L1 to L9, L1 and L2 are adjacent, L1 and L3 are adjacent, L2 and L3 are adjacent, L2 and L4 are adjacent, L3 and L4 are adjacent, L4 and L5 are adjacent, L5 and L6 are adjacent, L6 and L7 are adjacent, L6 and L8 are adjacent, L6 and L9 are adjacent, L7 and L8 are adjacent, L7 and L9 are adjacent, and L8 and L9 are adjacent.

[0052] In step S503, if there is at least one group of adjacent candidate target lines without intersection among the candidate target lines, or the candidate target lines do not intersect with the first frame boundary line, or the candidate target lines intersect with the second frame boundary line, a bridge line is constructed.

[0053] In step S504, a continuous polyline connecting the first web boundary line and the second web boundary line among a plurality of continuous polylines formed by two adjacent polylines in the candidate target line and the bridge line connected end to end is determined as a candidate boundary line.

[0054] A group of adjacent lines without intersection among candidate target lines refers to two candidate target lines that are closest to each other but have no intersection along the initial dividing line from top to bottom or from bottom to top. That is, there is no continuous broken line that can connect the first frame boundary line and the second frame boundary line among all candidate target lines. The bridge line can be any one of multiple continuous broken lines connecting two adjacent lines without intersection, and the bridge line is composed of at least one partition boundary line.

[0055] Preferably, if there is at least one group of adjacent but non-intersecting candidate target lines among the candidate target lines, and the number of edges in the forming width partition is less than 2, the initial dividing line connecting the two first intersection parts is determined as a bridging line; if there is at least one group of adjacent but non-intersecting candidate target lines among the candidate target lines, and the number of edges in the forming width partition is equal to 2, the broken line between the target boundary point and the candidate connection point on the adjacent target lines is determined as a bridging line; if there is at least one group of adjacent but non-intersecting candidate target lines among the candidate target lines, and the number of edges in the forming width partition is greater than 2, then from multiple partition boundary lines, the shortest partition boundary line connecting each group of adjacent non-intersecting candidate target lines or a continuous broken line formed by partition boundary lines is determined as a bridging line.

[0056] like Figure 6a As shown in the figure, the number of partition edges of the forming format is equal to 2, and the determined bridge line is the line between the target boundary point and the candidate connection point in two adjacent target lines, that is, the line between each adjacent solid circle and hollow circle in the figure. In this way, for the printing area responsible for each galvanometer, printing is performed at the dividing line according to a right-angle path, and the moving distance is relatively short, which can also improve printing efficiency. Figure 6b As shown, the number of partition edges of the formed web is less than 2, and the line between the two first intersection points of the determined bridge line is the bold line portion of the initial boundary line 603 shown in the figure.

[0057] like Figure 7 As shown, taking the formed format divided into octagons as an example, the solid lines in the formed format 10 are all partition boundary lines, and the partition boundary lines that have intersections with the initial dividing line are recorded as candidate target lines. The candidate target lines are shown in bold lines (including those with arrows and those without arrows) in the figure, including candidate target lines L11 to L18. Since the adjacent L15 and L16 have no intersection, there is no continuous broken line that can connect the first format boundary line 601 and the second format boundary line 602 in L11 to L18. The bridge line that can connect L15 and L16 is B1.

[0058] For the case where the number of partition edges is greater than 2, if none of the candidate target lines intersects with the first format boundary line, and / or none of the candidate target lines intersects with the second format boundary line, then from multiple partition boundary lines, the shortest partition boundary line connecting the adjacent boundary line and the target format boundary line or a continuous broken line formed by the partition boundary lines is determined as the bridging line.

[0059] Among them, the adjacent boundary line is the partition boundary line closest to the target format boundary line among multiple candidate target lines, and the target format boundary line is the first format boundary line that has no intersection with the candidate target line, and / or the second format boundary line. Specifically, if the candidate target line has no intersection with the first format boundary line, the adjacent boundary line determined is the one closest to the first format boundary line among multiple candidate target lines; if the candidate target line has no intersection with the second format boundary line, the adjacent boundary line determined is the one closest to the second format boundary line among multiple candidate target lines; if the candidate target line has no intersection with the first format boundary line and no intersection with the second format boundary line, the adjacent boundary line determined is the one closest to the first format boundary line among multiple candidate target lines, and the one closest to the second format boundary line among multiple candidate target lines.

[0060] There are candidate target lines that have no intersection with the first frame boundary line or the second frame boundary line, that is, among the multiple continuous broken lines formed by two adjacent end-to-end connected candidate target lines, any continuous broken line has no intersection with the first frame boundary line or the second frame boundary line. In this case, a continuous broken line that can connect the first frame boundary line and the second frame boundary line needs to be bridged.

[0061] like Figure 8 As shown, taking the forming format being equally divided into two galvanometers according to the task amount and the forming format being divided into quadrilaterals as an example, the solid lines in the forming format 10 are all partition boundary lines, and the partition boundary lines that intersect with the initial dividing line are recorded as candidate target lines, and the candidate target lines are shown in the figure as thick lines (including those with arrows and those without arrows), including candidate target lines L21 to L25. There is no candidate target line that intersects with the first format boundary line 601, nor is there a candidate target line that intersects with the second format boundary line 602. It is determined that the adjacent boundary line closest to the first format boundary 601 is L21, and the adjacent boundary line closest to the second format boundary 602 is L25. The second bridging broken line B2 connecting the adjacent boundary line L21 and the first format boundary line 601, and the second bridging broken line B3 connecting the adjacent boundary line L25 and the second format boundary line 601 are determined. The candidate dividing lines finally determined are shown in the figure as thick solid lines with arrows, including: a continuous broken line composed of B2, L21, L22, L24, L25 and B3.

[0062] It should be noted that if the candidate target lines have no intersections with the first frame boundary line and / or the second frame boundary line, and there is at least one group of adjacent but non-intersecting adjacent lines among the candidate target lines, then after determining the bridging line for bridging the candidate target lines without intersections and the bridging line for bridging the target frame boundary line and the adjacent boundary line, the continuous broken line connecting the first frame boundary line and the second frame boundary line composed of the bridging line and the candidate target lines is determined as the candidate dividing line.

[0063] In this way, in the case where the candidate target lines cannot form a continuous broken line, and in the case where any of the candidate target lines does not intersect with the first frame boundary line and / or the second frame boundary line, the existing target line can be used as a section of the candidate dividing line, avoiding the addition of small partitions, thereby improving printing efficiency and quality.

[0064] In step S505, a target dividing line is determined based on at least one candidate dividing line.

[0065] Since there may be more than one candidate dividing line, if the number of partition edges of the formed format is less than 2 and the preset number is greater than 1, there are multiple first intersection points, and at this time there will be multiple candidate dividing lines determined; if the number of partition edges of the formed format is equal to 2, Figure 6a For example, the mirror image of the candidate dividing line shown by the bold line in the figure is also a candidate dividing line; the number of partition edges of the formed format is greater than 2, such as Figure 6c As shown in the figure, the continuous broken line composed of the candidate target lines L1, L4, L5, L6 and L9 shown by the solid lines with arrows is the candidate dividing line, and there is only one; Figure 7 As shown in the figure, the candidate boundary lines finally determined are shown as thick solid lines with arrows, including: a continuous broken line composed of L11, L12, L14, L15, B1, L16 and L18, and a continuous broken line composed of L11, L12, L14, L15, B1, L16 and L17, that is, there are two candidate boundary lines. One of the multiple candidate boundary lines can be selected as the target boundary line of the printing boundary line of two adjacent galvanometers finally determined.

[0066] Optionally, when there are multiple candidate dividing lines, the closest or shortest candidate dividing line that divides the task volume of two adjacent galvanometers is determined as the selected dividing line from the multiple candidate dividing lines; and the target dividing line is determined based on the selected dividing line.

[0067] Since the task amounts of two adjacent galvanometers obtained by different candidate dividing lines may be different, if two adjacent galvanometers need to be printed at the same time as much as possible, the candidate dividing line with the task amount ratio closest to 1 among the task amount ratios of two adjacent galvanometers obtained by dividing multiple candidate dividing lines will be determined as the selected dividing line; if the distance that the galvanometer moves at the dividing line is required to be as short as possible, the shortest one among multiple candidate dividing lines can be determined as the selected dividing line. In this way, you can flexibly choose according to different needs.

[0068] When the selected dividing line does not exceed the forming format, the selected dividing line is determined as the target dividing line. When the selected dividing line exceeds the forming format, the fold line obtained after cutting according to the preset cutting method is determined as the target dividing line.

[0069] Optionally, when the selected dividing line exceeds the forming format, the selected dividing line is Boolean cropped using the forming format boundary box to obtain the target dividing line.

[0070] Boolean clipping is a technique for clipping geometric shapes using Boolean operations. Boolean operations include four basic operations: union, intersection, difference, and symmetric difference. Union operation refers to merging two or more shapes and retaining all their parts. Intersection operation refers to retaining the intersecting parts of two or more shapes. Difference operation refers to removing the intersecting parts of one shape from another shape. Symmetric difference operation refers to retaining the non-intersecting parts of two shapes and removing the intersecting parts.

[0071] The forming format boundary box is the four format boundary lines that enclose the forming format. The forming format boundary box is defined, and the selected boundary lines that exceed the boundary box are cut to obtain the target boundary lines that are only located within the forming format.

[0072] Since the shape difference of the to-be-printed area between multiple adjacent printing layers is usually small, the adjacent preset number of layers all use the target dividing line as the dividing line of the printing area, and the next layer after the preset number of layers uses the mirror symmetry line of the target dividing line as the dividing line of the printing area. The specific preset number is determined according to the similarity between the layers of the parts that need to be printed. For example, if the preset number is 5, after the target dividing line is determined in the first layer, the target dividing line is used as the dividing line of the to-be-printed area in the second to sixth layers, and the mirror symmetry line of the target dividing line is used as the dividing line of the to-be-printed area in the seventh to eleventh layers. In this way, the time for determining the dividing line is reduced, and the printing efficiency is further improved.

[0073] However, since the boundary is also the place where printing problems are most likely to occur, in order to reduce the accumulation of quality problems, the preset number can also be set to 0, that is, the mirror symmetry line of the target boundary is used as the boundary of the to-be-printed format in the adjacent next layer, thereby avoiding the accumulation of printing quality problems at the boundary.

[0074] In the present disclosure, for a formed surface that is printed by multiple galvanometers, the existence of the initial dividing line at the boundary of the printing area of ​​two adjacent galvanometers will lead to an increase in the number of small partitions. Since the small partitions need to be filled with short filling line segments, the number of short filling line segments will increase. In the scheme of the present disclosure, for the formed surface that has been partitioned, the same partition is divided into two galvanometers to be responsible for printing as little as possible, that is, the number of small partitions is reduced; for the formed surface that has not been partitioned, the target dividing line is also along the filling line segment, which will also reduce the number of small partitions caused by the initial dividing line; therefore, as the number of small partitions decreases, the short filling line segments also decrease, thereby improving the printing efficiency while also improving the printing quality.

[0075] Fig. 9FIG. 9 is a structural block diagram of a multi-galvanometer boundary planning device 900 shown in the present disclosure, such as Fig. 9 As shown, it includes: a determination part 901;

[0076] The determining part 901 is configured to determine a candidate target line according to a target line where the intersection of the plurality of target lines and the initial dividing line of two adjacent galvanometers is located, wherein the target line is a filling line segment or a partition boundary line;

[0077] And, if adjacent candidate target lines among the candidate target lines are connected end to end, and at least one candidate target line has an intersection with the first format boundary line and at least one candidate target line has an intersection with the second format boundary line, then a continuous broken line connecting the first format boundary line and the second format boundary line among a plurality of continuous broken lines formed by two adjacent candidate target lines connected end to end is determined as a candidate dividing line, and the first format boundary line and the second format boundary line are format boundary lines in the formed format that are perpendicular to the initial dividing line;

[0078] and, if there is at least one group of adjacent candidate target lines without intersection among the candidate target lines, or none of the candidate target lines intersects with the first frame boundary line, or all of the candidate target lines intersect with the second frame boundary line, then constructing a bridge line;

[0079] and determining, among the plurality of continuous broken lines formed by two adjacent broken lines in the candidate target line and the bridge line connected end to end, a continuous broken line connecting the first frame boundary line and the second frame boundary line as a candidate dividing line;

[0080] And, determining a target dividing line according to at least one candidate dividing line.

[0081] In some embodiments of the present disclosure, the determination part 901 is specifically configured to determine, when the number of partition edges of the formed format is less than 2, a preset number of first intersection points that are closest to the first format boundary line and the second format boundary line located in the formed format from the intersection points of multiple target lines and the initial dividing line of two adjacent galvanometers, as well as the second intersection points of the target line where each first intersection point is located with the first format boundary line and the second format boundary line; determine the line connecting the first intersection point and the second intersection point located on the same target line as a candidate target line; when the number of partition edges of the formed format is equal to 2, determine the target boundary point that intersects with the initial dividing line from the multiple partition boundary lines; determine the foot of the perpendicular line segment passing through the target boundary point and the adjacent partition boundary line as a candidate connection point; and connect the target boundary point and the candidate connection point located on the same target line to obtain a candidate target line.

[0082] In some embodiments of the present disclosure, the determination part 901 is specifically configured to determine the initial dividing line connecting the two first intersection parts as a bridging line if there is at least one group of adjacent candidate target lines without intersections among the candidate target lines, and the number of edges of the formed format partition is less than 2; if there is at least one group of adjacent candidate target lines without intersections among the candidate target lines, and the number of edges of the formed format partition is equal to 2, then determine the broken line between the target boundary point and the candidate connection point on the adjacent target line as a bridging line; if there is at least one group of adjacent candidate target lines without intersections among the candidate target lines, and the number of edges of the formed format partition is greater than 2, then select the broken line from the plurality of adjacent target lines. Among the partition boundary lines, the shortest partition boundary line or the continuous broken line formed by the partition boundary lines connecting each group of adjacent candidate target lines without intersection points is determined as the bridging line; if the candidate target lines do not intersect with the first frame boundary line, and / or the candidate target lines do not intersect with the second frame boundary line, then from the multiple partition boundary lines, the shortest partition boundary line or the continuous broken line formed by the partition boundary lines connecting the adjacent boundary line and the target frame boundary line is determined as the bridging line, the adjacent boundary line is the partition boundary line closest to the target frame boundary line among the multiple candidate target lines, and the target frame boundary line is the first frame boundary line that has no intersection points with the candidate target line, and / or the second frame boundary line.

[0083] In some embodiments of the present disclosure, the determination part 901 is specifically configured to, when there are multiple candidate dividing lines, determine, from the multiple candidate dividing lines, the closest or shortest candidate dividing line that divides the task volume of two adjacent galvanometers as the selected dividing line; and determine the target dividing line based on the selected dividing line.

[0084] In some embodiments of the present disclosure, the determining part 901 is specifically configured to perform Boolean clipping on the selected dividing line through the forming format boundary box to obtain the target dividing line when the selected dividing line exceeds the forming format.

[0085] In some embodiments of the present disclosure, the determining part 901 is further configured to determine the mirror symmetry line of the target boundary line as the boundary line of the adjacent next layer of the to-be-printed format.

[0086] In some embodiments of the present disclosure, the determining part 901 is further configured to determine an initial dividing line based on the task amount of the current printing layer.

[0087] It should be noted that the above-mentioned multi-galvanometer dividing line planning device can be the electronic device in the above-mentioned method embodiment of the present 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, and the embodiment of the present application is not limited.

[0088] In the embodiments of the present application, each module can implement the multi-galvanometer boundary line planning method provided in the above method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0089] Please refer to Fig.10 , which shows a structural block diagram of an electronic device provided by an exemplary embodiment of the present disclosure. In some examples, the electronic device may be at least one of a smart phone, a smart watch, a desktop computer, a laptop, a virtual reality terminal, an augmented reality terminal, a wireless terminal, and a laptop computer. The electronic device has a communication function and can access a wired network or a wireless network. The electronic device may generally refer to one of a plurality of terminals, and those skilled in the art may know that the number of the above terminals may be more or less. It can be understood that the electronic device undertakes the calculation and processing work of the technical solution of the present disclosure, and the present disclosure does not limit this.

[0090] like Fig.10 As shown, the electronic device in the present disclosure may include one or more of the following components: a processor 1010 and a memory 1020 .

[0091] Optionally, the processor 1010 uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1020, and calling data stored in the memory 1020. Optionally, the processor 1010 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 1010 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a neural network processor (NPU), and a baseband chip. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content that needs to be displayed on the touch display; the NPU is used to implement artificial intelligence (AI) functions; and the baseband chip is used to process wireless communications. It is understandable that the above-mentioned baseband chip may not be integrated into the processor 1010, but may be implemented by a separate chip.

[0092] The memory 1020 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 1020 includes a non-transitory computer-readable storage medium. The memory 1020 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1020 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 a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above various method embodiments, etc.; the data storage area may store data created according to the use of the electronic device, etc.

[0093] In addition, those skilled in the art will understand that the structure of the electronic device shown in the above drawings does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, the electronic device also includes a display screen, a camera assembly, a microphone, a speaker, a radio frequency circuit, an input unit, a sensor (such as an acceleration sensor, an angular velocity sensor, a light sensor, etc.), an audio circuit, a WiFi module, a power supply, a Bluetooth module and other components, which will not be described in detail here.

[0094] The present disclosure also provides a computer-readable storage medium storing at least one instruction, wherein the at least one instruction is used to be executed by a processor to implement the multi-galvanometer boundary line planning method described in the above embodiments.

[0095] The present disclosure also provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium; a processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes to implement the multi-galvanometer dividing line planning method described in the above-mentioned embodiments.

[0096] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned multi-galvanometer boundary line planning method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0097] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0098] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices, servers and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0101] If the integrated unit is implemented in the form of 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 the present application is essentially 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, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0102] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the present disclosure can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by a general or special-purpose computer.

[0103] It should be noted that the technical solutions described in the present disclosure can be combined arbitrarily without conflict.

[0104] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for planning a multi-galvanometer boundary line, characterized in that: The method comprises: Determine a candidate target line according to a target line where the intersection of the plurality of target lines and the initial dividing line of two adjacent galvanometers is located, wherein the target line is a filling line segment or a partition boundary line; If adjacent candidate target lines among the candidate target lines are connected end to end, and at least one candidate target line has an intersection with the first format boundary line and at least one candidate target line has an intersection with the second format boundary line, then a continuous broken line connecting the first format boundary line and the second format boundary line among a plurality of continuous broken lines formed by two adjacent candidate target lines connected end to end is determined as a candidate dividing line, and the first format boundary line and the second format boundary line are format boundary lines in the formed format that are perpendicular to the initial dividing line; If there is at least one group of adjacent candidate target lines without intersection among the candidate target lines, or none of the candidate target lines intersects with the first frame boundary line, or all of the candidate target lines intersect with the second frame boundary line, then a bridge line is constructed; Determine, among the plurality of continuous broken lines formed by connecting the candidate target line and two adjacent ones of the bridge line end to end, a continuous broken line connecting the first frame boundary line and the second frame boundary line as a candidate dividing line; A target dividing line is determined based on at least one candidate dividing line.

2. The method according to claim 1, characterized in that The step of determining a candidate target line according to a target line where the intersection of the plurality of target lines and the initial boundary line of two adjacent galvanometers is located comprises: When the number of partition edges of the forming format is less than 2, a preset number of first intersection points located in the forming format and closest to the first format boundary line and the second format boundary line are determined from the intersection points of the multiple target lines and the initial dividing lines of two adjacent galvanometers, as well as a second intersection point of the target line where each first intersection point is located with the first format boundary line and the second format boundary line; Determine a line connecting a first intersection point and a second intersection point located on the same target line as the candidate target line; When the number of partition edges of the forming format is equal to 2, determining a target boundary point intersecting with the initial dividing line from a plurality of partition boundary lines; Determine the foot of a perpendicular line segment passing through the target boundary point and an adjacent partition boundary line as a candidate connection point; The target boundary points and the candidate connection points located on the same target line are connected to obtain the candidate target line.

3. The method according to claim 2, characterized in that If there is at least one group of adjacent candidate target lines without intersection among the candidate target lines, or the candidate target lines do not intersect with the first frame boundary line, or the candidate target lines all intersect with the second frame boundary line, then constructing a bridge line, including: If there is at least one group of adjacent candidate target lines without intersection among the candidate target lines, and the number of edges of the formed format partition is less than 2, the initial dividing line connecting the two first intersection parts is determined as a bridge line; If there is at least one group of adjacent candidate target lines without intersection among the candidate target lines, and the number of edges of the forming format partition is equal to 2, the polyline between the target boundary point and the candidate connection point on the adjacent target line is determined as the bridge line; If there is at least one group of adjacent candidate target lines without intersection among the candidate target lines, and the number of partition edges of the formed width is greater than 2, then from multiple partition boundary lines, the shortest partition boundary line connecting each group of adjacent candidate target lines without intersection or a continuous broken line formed by partition boundary lines is determined as a bridge line; If none of the candidate target lines intersects with the first format boundary line, and / or none of the candidate target lines intersects with the second format boundary line, then from the multiple partition boundary lines, the shortest partition boundary line connecting the adjacent boundary line and the target format boundary line or a continuous broken line formed by the partition boundary lines is determined as a bridging line, the adjacent boundary line is the partition boundary line closest to the target format boundary line among the multiple candidate target lines, the target format boundary line is the first format boundary line that has no intersection with the candidate target line, and / or the second format boundary line.

4. The method according to claim 1, characterized in that: The step of determining a target dividing line according to at least one candidate dividing line comprises: In the case where the candidate dividing lines include multiple ones, determining the closest or shortest candidate dividing line that divides the task amount of two adjacent galvanometers from the multiple candidate dividing lines as the selected dividing line; According to the selected dividing line, a target dividing line is determined.

5. The method according to claim 4, characterized in that Determining a target dividing line according to the selected dividing line includes: In the case where the selected dividing line exceeds the forming format, the selected dividing line is Boolean clipped using the forming format boundary box to obtain the target dividing line.

6. The method according to claim 1, characterized in that The method further comprises: The mirror symmetry line of the target boundary line is determined as the boundary line of the next adjacent layer of the to-be-printed format.

7. The method according to claim 1, characterized in that The method further comprises: Determine the initial dividing line based on the workload of the current printing layer.

8. A multi-galvanometer boundary line planning device, characterized in that: The device comprises: a determining part; The determining part is configured to determine a candidate target line according to a target line where the intersection of the plurality of target lines and the initial dividing line of two adjacent galvanometers is located, wherein the target line is a filling line segment or a partition boundary line; And, if adjacent candidate target lines among the candidate target lines are connected end to end, and at least one candidate target line has an intersection with the first format boundary line and at least one candidate target line has an intersection with the second format boundary line, then a continuous broken line connecting the first format boundary line and the second format boundary line among a plurality of continuous broken lines formed by two adjacent candidate target lines connected end to end is determined as a candidate dividing line, and the first format boundary line and the second format boundary line are format boundary lines in the formed format that are perpendicular to the initial dividing line; and, if there is at least one group of adjacent candidate target lines without intersection among the candidate target lines, or none of the candidate target lines intersects with the first frame boundary line, or all of the candidate target lines intersect with the second frame boundary line, then constructing a bridge line; and determining, among the plurality of continuous broken lines formed by connecting two adjacent broken lines in the candidate target line and the bridge line end to end, a continuous broken line connecting the first frame boundary line and the second frame boundary line as a candidate dividing line; And, determining a target dividing line according to at least one candidate dividing line.

9. An electronic device, characterized in that: It comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein when the program or instruction is executed by the processor, the steps of the multi-galvanometer boundary line planning method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the multi-galvanometer boundary line planning method according to any one of claims 1 to 7 are implemented.

Images