Multi-laser 3D printing path planning method and system based on collaborative optimization

Abstract

The invention discloses a multi-laser 3D printing path planning method and system based on collaborative optimization, and relates to the technical field of multi-laser 3D printing path planning and optimizing.The method comprises the steps that a 3D model to be printed is subjected to equal-area division; adjusting a real-time path based on a collision avoidance rule load balance; and finishing self-adaption and summarizing the data. According to the multi-laser 3D printing path planning method based on collaborative optimization, through the step of equal area division, the overall working efficiency of the system is improved, through the step of refining hierarchical division, the system can more accurately process a complex geometric structure, the printing safety and smoothness are improved, and through real-time load balance and path adjustment, the multi-laser 3D printing path planning method based on collaborative optimization can be used for realizing multi-laser 3D printing. And delay caused by too large task load of some laser heads is avoided. Through monitoring and automatic adjustment, the system achieves optimization of a self-adaptive working path, the overall printing efficiency is improved, and better effects are achieved in the aspects of fluency, safety and printing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-laser 3D printing path planning and optimization, and in particular to a multi-laser 3D printing path planning method and system based on collaborative optimization. Background Art

[0002] With the rapid development of 3D printing technology, additive manufacturing technology has become an important means of producing complex geometric structures and customized products. In the fields of industry, medicine, aerospace, etc., traditional single-laser 3D printing has gradually failed to meet the increasingly high demands for efficiency and precision. Multi-laser 3D printing technology has emerged, and large-scale and efficient production can be achieved through the parallel operation of multiple laser heads. However, the existing multi-laser 3D printing technology still faces multiple challenges: such as the complexity of path planning, path conflict problems between multiple laser heads, and unbalanced printing task loads. These problems cause the system to be inefficient and prone to printing defects during the printing process, making it difficult to give full play to the advantages of multi-laser technology. The path planning methods in the existing technology are mostly based on fixed area division and static path generation, and cannot adaptively adjust the path in a dynamic environment, which limits the further improvement of printing efficiency.

[0003] The existing multi-laser 3D printing technology has a particularly obvious problem of path conflict when dealing with complex geometric structures. Since multiple laser heads share the working area, path overlap and conflict often occur. The existing collision avoidance rules often rely on fixed paths and area divisions, lacking flexibility and adaptability. In addition, the problem of unbalanced load distribution also limits the efficiency of the collaborative work of multiple laser heads. Some laser heads may be delayed due to excessive tasks, while other laser heads are idle due to insufficient tasks. In contrast, the present invention dynamically adjusts the working area and path planning through collaborative optimization, and proposes an innovative solution to the problems of path conflict and uneven load. It adopts a real-time monitoring and feedback mechanism, combined with the load balancing and path optimization of the collision avoidance rules, to ensure that multiple laser heads work together seamlessly during the printing process, maximize system efficiency and improve printing quality. Summary of the invention

[0004] In view of the above-mentioned problems, the present invention is proposed.

[0005] Therefore, the technical problem solved by the present invention is that the existing multi-laser 3D printing technology method has poor flexibility, poor adaptability, low work efficiency, and problems of path overlap and conflict.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: a multi-laser 3D printing path planning method based on collaborative optimization, comprising dividing the 3D model to be printed into equal areas; adjusting the real-time path based on load balancing of collision avoidance rules; and adaptively ending and aggregating data.

[0007] As a preferred solution of the multi-laser 3D printing path planning method based on collaborative optimization described in the present invention, wherein: the equal-area division of the 3D model to be printed includes obtaining geometric information of the 3D printing model;

[0008] Geometric information includes the overall size and volume of the model and the complexity of each local detail;

[0009] Collect the total area and volume data of the model and divide the model into equal area regions according to the number of laser heads;

[0010] Each area is assigned a laser head to perform the printing task;

[0011] The model is divided into layers, and the overall height of the model is layered along the Z axis. The thickness of each layer is set according to the printing accuracy and the working characteristics of the laser head, and each layer is further divided horizontally according to the geometric complexity.

[0012] As a preferred solution of the multi-laser 3D printing path planning method based on collaborative optimization described in the present invention, wherein: the equal-area division of the 3D model to be printed includes designing collision avoidance rules from the time dimension and the space dimension;

[0013] According to the partitioning results of the model, the working area of ​​each laser head is allocated by the system and works within the allocated area;

[0014] Set the safety margin according to the size of the laser head, the diameter of the laser focus, and the diffusion range parameters of the printed material. The safety distance model is expressed as:

[0015]

[0016] Among them, D s Indicates the safety distance, d l Indicates the focal diameter of the laser head, d m It represents the diffusion diameter of the printed material under heating state, and Δd represents the additional safety margin set by the system;

[0017] In the time dimension, the collision avoidance rules ensure that the laser heads work at staggered times in areas where the paths intersect, preventing more than one laser head from entering the same or adjacent areas at the same time;

[0018] A work area priority model is constructed to set the work area priorities for different laser heads. The priorities are dynamically adjusted according to the complexity of the printing area and the urgency of the task, which can be expressed as:

[0019]

[0020] Among them, P iIndicates the priority of the i-th laser head, C i Indicates the geometric complexity of the printing area, T i Indicates the urgency of the task.

[0021] As a preferred solution of the multi-laser 3D printing path planning method based on collaborative optimization described in the present invention, wherein: the load balancing adjustment of the real-time path based on the collision avoidance rule includes adjusting the path of the laser head;

[0022] When the paths of two laser heads overlap in space, the system automatically allocates working time based on priority;

[0023] During the printing process, the system detects the movement trajectory of each laser head in real time through sensors and monitoring modules;

[0024] When it detects that a path conflict is about to occur, the system automatically adjusts the path and the working order;

[0025] The system monitors the position, speed and working status of the laser head in real time;

[0026] When two laser heads are detected entering the same space, the system immediately makes adjustments to extend the path of the laser head with lower priority or change the working area of ​​the laser head with lower priority to avoid conflict.

[0027] If the path adjustment cannot avoid the conflict, the system temporarily suspends the work of the laser head with the lower priority and resumes it after the other laser head has completed;

[0028] If the system fails to predict the conflict, resulting in an actual collision of the laser heads or path overlap, the system will immediately execute a fallback mechanism to undo the printing operation in the conflicting area, re-plan the path, and resume printing based on the print data.

[0029] As a preferred solution of the multi-laser 3D printing path planning method based on collaborative optimization described in the present invention, wherein: the real-time path adjustment based on the load balancing of the collision avoidance rule includes generating an initial path based on the model area division;

[0030] Select the starting point and end point, and choose the algorithm for path generation;

[0031] Through the feedback mechanism, the laser head adjusts the allocation of the printing area in real time according to the current printing progress and path status;

[0032] By detecting the path length of the laser head, the system will reallocate the printing area in real time to ensure that the laser head is always in the working state of the shortest path;

[0033] The system monitors the working path of each laser head in real time and outputs the current path length;

[0034] If an increase in path length is detected, the system readjusts the working area of ​​the laser head;

[0035] The system dynamically adjusts the printing area of ​​the laser head according to the complexity of the current path and the task load;

[0036] Based on real-time feedback, the system uses a local dynamic area allocation algorithm to split the laser head path area and assign the remaining tasks to the remaining laser heads.

[0037] As a preferred solution of the multi-laser 3D printing path planning method based on collaborative optimization described in the present invention, wherein: the adaptive end and data aggregation includes printing tasks completed based on all laser heads;

[0038] When the last laser head completes the work of the assigned area, the system will automatically terminate all adaptive adjustment operations;

[0039] Termination conditions include:

[0040] All laser heads complete the printing task within the designated area;

[0041] There is no remaining print area to reallocate;

[0042] The system's load balancing and path optimization operations no longer need to be performed;

[0043] If the system detects that during the last stage of the adaptive adjustment process, the load distribution and path optimization no longer need to be adjusted and the load of the laser head has been balanced, the adaptive mechanism will be gradually turned off;

[0044] The system turns off the conflict detection and avoidance mechanism after confirming that the paths of all laser heads have been completed and there are no more potential conflicts.

[0045] As a preferred solution of the multi-laser 3D printing path planning method based on collaborative optimization described in the present invention, wherein: the self-adaptation ends and the data is summarized and analyzed by the system after the self-adaptation ends, and a data report is generated;

[0046] The system records the total path length performed by each laser head during the entire printing process;

[0047] Record the workload of each laser head in the task, including working time, printing task volume and area;

[0048] If the load on the laser head is unbalanced, the system adjusts the future load distribution strategy by optimizing subsequent tasks;

[0049] The system records all conflicts and collision avoidance operations during the printing process, and analyzes the time, location and handling methods of the conflicts.

[0050] Another object of the present invention is to provide a multi-laser 3D printing path planning system based on collaborative optimization, which can adjust the real-time path through load balancing of collision avoidance rules, thereby solving the problems of path overlap and conflict in current multi-laser 3D printing technology methods.

[0051] As a preferred solution of the multi-laser 3D printing path planning system based on collaborative optimization described in the present invention, it includes: an area division module, an adaptive area allocation module, and an adaptive end module; the area division module is used to divide the 3D model into several printing areas; the adaptive area allocation module is used to adjust the path and load balance in real time; the adaptive end module is used to distribute the load and stabilize the path optimization.

[0052] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement a multi-laser 3D printing path planning method based on collaborative optimization.

[0053] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a multi-laser 3D printing path planning method based on collaborative optimization.

[0054] Beneficial effects of the present invention: The multi-laser 3D printing path planning method based on collaborative optimization provided by the present invention can achieve balanced distribution of task loads through the steps of equal area division, reduce the idle time of the laser head, and improve the overall work efficiency of the system. By refining the hierarchical division steps, the system can more accurately handle complex geometric structures. Through the design of collision avoidance rules, the system effectively avoids conflicts caused by overlapping laser head paths during printing, improves the safety and fluency of printing, and ensures reasonable distribution of the task burden of each laser head through real-time load balancing and path adjustment, avoiding delays caused by excessive task loads of certain laser heads. Through monitoring and automatic adjustment, the system realizes the optimization of adaptive working paths and improves the overall printing efficiency. The present invention achieves better results in terms of fluency, safety and printing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0056] Figure 1 An overall flow chart of a multi-laser 3D printing path planning method based on collaborative optimization provided for the first embodiment of the present invention.

[0057] Figure 2 An overall flow chart of a multi-laser 3D printing path planning system based on collaborative optimization provided for the third embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0059] Example 1, reference Figure 1 , as an embodiment of the present invention, provides a multi-laser 3D printing path planning method based on collaborative optimization, comprising:

[0060] S1: Divide the 3D model to be printed into equal areas.

[0061] Furthermore, the geometric information of the 3D printing model is obtained;

[0062] Geometric information includes the overall size and volume of the model and the complexity of each local detail;

[0063] Collect the total area and volume data of the model and divide the model into equal area regions according to the number of laser heads;

[0064] Each area is assigned a laser head to perform the printing task;

[0065] The model is divided into layers, and the overall height of the model is layered along the Z axis. The thickness of each layer is set according to the printing accuracy and the working characteristics of the laser head, and each layer is further divided horizontally according to the geometric complexity.

[0066] It should be noted that in order to avoid collisions between laser heads in space, spatial collision avoidance rules must be set for the working area of ​​each laser head during path planning.

[0067] Working area division,According to the partitioning results of the model, the working area of ​​each laser head is allocated by the system, ensuring that each laser head only works in its own area.

[0068] Safety margin setting sets a safety distance on the boundary of the laser head working area. This safety distance can be set according to parameters such as the size of the laser head, the diameter of the laser focus, and the diffusion range of the printing material to ensure that the laser head does not approach the boundary of the adjacent area during printing.

[0069] The safety distance model is expressed as:

[0070]

[0071] Among them, D s Indicates the safety distance, d l Indicates the focal diameter of the laser head, d m It represents the diffusion diameter of the printed material under heating state, and Δd represents the additional safety margin set by the system;

[0072] Dynamic collision avoidance area adjustment: when the working area of ​​a laser head approaches an adjacent laser head, the system automatically adjusts its path to avoid the adjacent area, ensuring that the laser head does not cross the boundary.

[0073] It should also be noted that in the time dimension, the collision avoidance rules ensure that the laser heads work at staggered times in areas where the paths intersect, preventing multiple laser heads from entering the same or adjacent areas at the same time.

[0074] Work area priority: Set the work area priority for different laser heads. The laser head with higher priority will enter the area first, and other laser heads will enter the area after they finish their work. The priority is dynamically adjusted according to factors such as the complexity of the printing area and the urgency of the task, expressed as:

[0075]

[0076] Among them, P i Indicates the priority of the i-th laser head, C i Indicates the geometric complexity of the printing area, T i Indicates the urgency of the task.

[0077] S2: Adjust the real-time path based on load balancing of collision avoidance rules.

[0078] Furthermore, when the paths of two laser heads may overlap in space, the system will automatically allocate working time according to their priorities. The laser head with higher priority will complete the task first, and the laser head with lower priority will print other areas during the waiting period to avoid conflicts.

[0079] During the actual printing process, the system will detect the movement trajectory of each laser head in real time through sensors and monitoring modules. If it detects that the path is about to conflict, the system will automatically adjust the path and work order.

[0080] The system monitors the position, speed and working status of the laser heads in real time. Once it detects that two laser heads may enter the same space, the system will immediately make adjustments.

[0081] The system can automatically adjust the path of the laser heads when necessary, extending the path of a certain laser head or changing its working area to avoid conflicts.

[0082] If the path adjustment cannot completely avoid the conflict, the system can temporarily suspend the work of one of the laser heads and resume it after the other laser head is completed.

[0083] In rare cases, if the system fails to predict a conflict, resulting in an actual laser head collision or path overlap, the system will immediately execute a fallback mechanism to undo the printing operation in the conflicting area, replan the path, and resume printing based on the print data.

[0084] When the system detects a path conflict through the position sensor, it automatically stops printing in the conflicting area and records the conflicting position.

[0085] The system cancels printing of the conflicting area and replans the path of the area to ensure that conflicts do not occur again when printing again.

[0086] The system resumes printing based on the print data before rollback and continues to complete the unfinished task.

[0087] The collision avoidance design combining both time and space dimensions ensures that the laser heads can work together efficiently in complex 3D printing tasks, greatly reducing the possibility of path conflicts.

[0088] The system monitors the working status of the laser head in real time through sensors and can adjust the path according to actual conditions to ensure that the printing task is not disturbed.

[0089] The working order of the laser heads is dynamically adjusted according to the task urgency and geometric complexity, avoiding the phenomenon of multiple laser heads competing for the same working area at the same time.

[0090] If a conflict occurs, the system has automatic rollback and path re-planning functions to ensure that the printing process can proceed smoothly and return to normal.

[0091] It should be noted that the system monitors the working path of each laser head in real time and calculates its current path length. If an abnormal increase in path length is detected (such as encountering complex geometric structures or an area that is too large), the system will readjust the working area of ​​the laser head.

[0092] The system dynamically adjusts the printing area of ​​the laser head according to the complexity of the current path, task load, etc. The area adjustment follows the principle of "reducing the burden on the laser head and allocating a reasonable path", that is, by reducing the path length, the laser head continues to work efficiently.

[0093] Based on real-time feedback, the system uses a "local dynamic area allocation algorithm" to split the areas where the laser head path is complex and the load is too large, and assign the remaining tasks to other laser heads. This process is automatically executed through the system's internal adaptive optimization algorithm.

[0094] During the printing process, the workload of some laser heads may increase significantly due to complex geometries or long paths. To prevent these laser heads from being overworked, the system dynamically adjusts the workload to ensure that all laser heads are evenly distributed.

[0095] The system monitors the real-time workload of each laser head, including its working time, path length and complexity. If the load of a laser head exceeds the preset threshold, the system automatically triggers load balancing adjustments.

[0096] The system divides the workload of complex geometric areas into several subtasks and dynamically allocates these subtasks to other laser heads with lighter tasks. The principle followed during allocation is to prioritize the workload to the laser heads closer to the area to reduce the overall path length.

[0097] After dynamic adjustment, the system will ensure that the boundaries of the reallocated areas remain smooth and without intersections, avoiding path conflicts when multiple laser heads are working.

[0098] When multiple laser heads enter the same area, the system dynamically adjusts their working order based on the path length and task complexity of each laser head to ensure that the laser head with the shortest path completes the task first.

[0099] According to the current path length of each laser head, the system assigns a priority to it. The laser head with a high priority will complete its current task first, while the laser head with a low priority will adjust its time to enter the area to avoid path conflicts.

[0100] When multiple laser head paths are likely to intersect, the priority rule ensures that the laser heads do not enter the same area at the same time. This interaction is achieved through the "path priority dynamic adjustment algorithm" to adjust the priority of each laser head in real time.

[0101] When the laser head path is about to enter the working area of ​​other laser heads, the system will automatically adjust the path to ensure that the laser head does not enter the boundary of other laser heads to avoid crossing and overlapping.

[0102] The system monitors the boundaries and paths of each laser head in real time to predict possible intersections. When an impending conflict is detected, the system uses a path optimization algorithm to adjust the trajectory of the laser head to ensure that each laser head operates within its assigned safety zone.

[0103] Avoidance strategies include adjusting the path order, temporarily stopping a laser head from working, or avoiding conflicts by taking a detour. The system will automatically select the optimal strategy based on different scenarios.

[0104] During the printing process, the system optimizes the path based on the real-time feedback of the printing status, path length and laser head status. Through the feedback mechanism, the system can dynamically adjust the path of each laser head so that it is always on the optimal path.

[0105] The system uses sensors to obtain the printing progress, path length and working status of each laser head. If a laser head's path is found to be inefficient, the system will provide path optimization suggestions and automatically adjust the printing trajectory.

[0106] Path adjustment strategy: Path optimization can be achieved by reducing the detours of the laser head path, optimizing the angles at the path turns, or adjusting the working speed of the laser head to ensure that each path reaches the optimal state.

[0107] When a possible conflict is detected in the laser head path, the system will provide real-time feedback on conflict avoidance suggestions and re-plan the path to avoid the conflict.

[0108] During the monitoring process, the system analyzes the real-time path of each laser head to predict possible conflicts. If it detects that the paths of two or more laser heads are about to cross, the system will immediately generate an avoidance plan.

[0109] The system uses a path replanning algorithm to provide feedback on the optimal avoidance path, ensuring that the laser head avoids conflicts without affecting printing efficiency. The feedback mechanism can also suggest adjusting the working order of the laser head to reduce conflicts.

[0110] S3: Adaptation ends and data is summarized.

[0111] Furthermore, the end of the adaptive adjustment mechanism is based on the completion of the printing tasks of all laser heads. When the last laser head completes the work of its assigned area, the system will automatically terminate all adaptive adjustment operations. The termination conditions include:

[0112] All laser heads complete the printing task within the designated area.

[0113] There is no remaining print area to reallocate.

[0114] The system's load balancing and path optimization operations no longer need to be performed.

[0115] It should be noted that if the system detects that the load distribution and path optimization have stabilized during the final stage of the adaptive adjustment process (i.e., the printing path no longer needs to be adjusted and the load of the laser head has been balanced), the adaptive mechanism will be gradually turned off. This shutdown is gradual to avoid the system from suddenly stopping when it is turned off. The conflict detection module in the system turns off the conflict detection and avoidance mechanism after confirming that the paths of all laser heads have been completed and there are no potential conflicts, marking the official end of the adaptive part.

[0116] It should also be noted that after the adaptation is completed, the system will summarize and analyze the entire printing task and generate relevant data reports. These data provide important references for subsequent task optimization. The system will record the total path length executed by each laser head during the entire printing process. By analyzing these path data, the system can further optimize future path planning methods to ensure the shortest path length when working under similar geometric structures. Record the workload of each laser head in the task, including working time, printing task volume and area size. If the load of a laser head is unbalanced, the system will adjust the future load distribution strategy through the optimization of subsequent tasks. The system will record all conflicts and collision avoidance operations during the printing process, and analyze the time, location and handling method of the conflict. These data will help the system optimize future conflict detection algorithms and collision avoidance mechanisms, and further improve the safety and work efficiency of tasks.

[0117] Furthermore, after confirming that all tasks have been completed, the system will switch the laser head and printing module to standby mode. This process includes:

[0118] Turn off the power supply of the laser head to avoid overheating or loss of the equipment.

[0119] Stop all dynamic adjustment mechanisms to ensure that system resources are effectively released.

[0120] The system enters low power mode and waits for the next print task to start.

[0121] The computing resources in the adaptive adjustment process (such as path optimization, load distribution and other algorithms) no longer occupy system resources after the task is completed. The system ensures that the system resources are effectively released by clearing memory and shutting down computing modules to prepare for the next task.

[0122] After the printing task is completed, the system will save all relevant status information and logs, including the working time, path, task completion time of each laser head, etc. These data will help the system to quickly recover and adjust in future tasks and improve overall work efficiency.

[0123] Example 2, an embodiment of the present invention, provides a multi-laser 3D printing path planning method based on collaborative optimization. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through economic benefit calculation and simulation experiments.

[0124] First, the complex 3D model to be printed is divided into multiple equal-area regions, and the path optimization is performed based on collision avoidance rules and load balancing mechanism, and compared with the traditional path planning under the existing technology. The specific model of the experiment is an industrial part, including several complex geometric details and areas with high precision requirements.

[0125] The subjects included:

[0126] Test object 1 (the present invention): The multi-laser 3D printing path planning method based on collaborative optimization of the present invention is adopted. The model is divided into multiple areas in an equal area division manner, and each laser head is responsible for a separate area. The system monitors the path status of the laser head in real time, adjusts the load according to the collision avoidance rules, avoids path conflicts, and ensures a balanced distribution of the working area. An adaptive path optimization mechanism is used during the printing process to adjust the task of the laser head according to the real-time path status, and finally ends the printing task by summarizing the data.

[0127] Test Subject 2 (Control Group): The control group uses the existing static path planning technology. The model is still divided into multiple areas, but load balancing and collision avoidance rules are not considered. Each laser head prints according to the pre-planned path. The path is not adjusted during the printing process. The system has no adaptive adjustment function. The printing task ends directly after completion, and there is no data summary optimization.

[0128] The geometric information of the model is input into the system to obtain the overall size, volume and local complexity. Then, according to the number of laser heads, the model is divided into equal-area areas. For the system of the present invention, the collision avoidance rules are taken into account during the division and the tasks of each laser head are adjusted in real time. The control group adopts fixed area division and does not consider real-time path adjustment. During the experiment, the present invention generates and optimizes the path in real time based on the collision avoidance rules and load balancing mechanism. When the paths of two laser heads tend to overlap, the system dynamically adjusts the path priority and task allocation to ensure that no conflict occurs. The control group relies entirely on the initial path planning without dynamic adjustment. During the printing process, the present invention adjusts its task area according to the task load and path status of each laser head to ensure that each laser head is in the shortest path state and avoid long-term ineffective work. After the task is completed, the system summarizes the working data of each laser head to provide a reference for the optimization of subsequent tasks. The control group directly terminates the task after completing the printing, without data analysis and feedback adjustment mechanism.

[0129] Table 1 Experimental data table

[0130]

[0131] It can be clearly seen from the experimental data table that the present invention has significant improvements in multiple key indicators compared with the prior art. The specific analysis is as follows:

[0132] Average path length: The average printing path length of the present invention is 1500mm, while the path length of the control group is 1750mm, which is 250mm shorter. This shows that through collaborative optimization and real-time path adjustment, the present invention can effectively shorten the movement path of the laser head, thereby improving printing efficiency. The shortening of the path length directly reduces the movement time of the print head in the invalid area, making the movement of each laser head more accurate and efficient, ensuring that it always works on the optimal path.

[0133] Number of path conflicts: Test object 1 (the present invention) had no path conflicts in the experiment, while the control group had 5 path conflicts. This shows that the collision avoidance rules and load balancing mechanism of the present invention can effectively avoid path overlap and conflicts in a real-time environment, ensuring that multiple laser heads can work seamlessly in complex geometric structures. The reduction of path conflicts improves the safety of the system and reduces the interruption or failure of printing tasks caused by conflicts.

[0134] Average printing time: The average printing time of the present invention is 45 minutes, while that of the control group is 60 minutes, which is 25% shorter. This difference mainly comes from real-time path optimization and load balancing adjustment. The present invention can dynamically adjust task allocation according to the real-time status of the laser head, ensuring that each laser head will not have too much waiting time after completing the task, further improving the printing efficiency. However, due to the fixed path and uneven task allocation in the control group, some laser heads have too many or too few tasks, which increases the printing time.

[0135] Printing safety: The printing safety of the present invention reaches a low error rate of 98%, while the safety of the control group is 93%. This reflects the high efficiency of the present invention in collision avoidance rules and dynamic adjustment, avoiding the occurrence of path conflicts and printing defects. For high-precision printing tasks, the low error rate ensures the high quality of the printing results, especially in industrial applications, where precision and safety are crucial.

[0136] Equipment load balance: The equipment load balance of the present invention is 90%, which is significantly higher than 70% of the control group. This data shows that the present invention can ensure the load balance of each laser head by adjusting the task allocation of the laser head in real time, avoid some laser heads from having too heavy or too light tasks, and improve the overall stability and efficiency of the system. However, since the control group cannot make real-time adjustments, the workload of some laser heads is too large, which affects the collaborative work effect of the system.

[0137] In summary, the present invention achieves better results in terms of fluency, security and printing efficiency.

[0138] Example 3, reference Figure 2, as an embodiment of the present invention, provides a multi-laser 3D printing path planning system based on collaborative optimization, including a region division module, an adaptive region allocation module, and an adaptive end module.

[0139] The area division module is used to divide the 3D model into several printing areas, the adaptive area allocation module is used to adjust the path and load balance in real time, and the adaptive end module is used to distribute the load and stabilize the path optimization.

[0140] If the function 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 invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0141] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0142] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0143] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc. It should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and are not limited. Although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

[0144] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-laser 3D printing path planning method based on collaborative optimization, characterized in that: include: Divide the 3D model to be printed into equal areas; Adjust the real-time path based on load balancing of collision avoidance rules; Adaptation ends and data is summarized.

2. The multi-laser 3D printing path planning method based on collaborative optimization according to claim 1, characterized in that: The equal-area division of the 3D model to be printed includes acquiring geometric information of the 3D printing model; Geometric information includes the overall size and volume of the model and the complexity of each local detail; Collect the total area and volume data of the model and divide the model into equal area regions according to the number of laser heads; Each area is assigned a laser head to perform the printing task; The model is divided into layers, and the overall height of the model is layered along the Z axis. The thickness of each layer is set according to the printing accuracy and the working characteristics of the laser head, and each layer is further divided horizontally according to the geometric complexity.

3. The multi-laser 3D printing path planning method based on collaborative optimization as claimed in claim 2, characterized in that: The equal-area division of the 3D model to be printed includes designing collision avoidance rules from the time dimension and the space dimension; According to the partitioning results of the model, the working area of ​​each laser head is allocated by the system and works within the allocated area; Set the safety margin according to the size of the laser head, the diameter of the laser focus, and the diffusion range parameters of the printed material. The safety distance model is expressed as: Among them, D s Indicates the safety distance, d l Indicates the focal diameter of the laser head, d m It represents the diffusion diameter of the printed material under heating state, and Δd represents the additional safety margin set by the system; In the time dimension, the collision avoidance rules ensure that the laser heads work at staggered times in areas where the paths intersect, preventing more than one laser head from entering the same or adjacent areas at the same time; A work area priority model is constructed to set the work area priorities for different laser heads. The priorities are dynamically adjusted according to the complexity of the printing area and the urgency of the task, which can be expressed as: Among them, P i Indicates the priority of the i-th laser head, C i Represents the geometric complexity of the printing area, T i Indicates the urgency of the task.

4. The multi-laser 3D printing path planning method based on collaborative optimization as claimed in claim 3, characterized in that: The load balancing adjustment of the real-time path based on the collision avoidance rule includes adjusting the path of the laser head; When the paths of two laser heads overlap in space, the system automatically allocates working time based on priority; During the printing process, the system detects the movement trajectory of each laser head in real time through sensors and monitoring modules; When it detects that a path conflict is about to occur, the system automatically adjusts the path and the working order; The system monitors the position, speed and working status of the laser head in real time; When two laser heads are detected entering the same space, the system immediately makes adjustments to extend the path of the laser head with lower priority or change the working area of ​​the laser head with lower priority to avoid conflict. If the path adjustment cannot avoid the conflict, the system temporarily suspends the work of the laser head with the lower priority and resumes it after the other laser head has completed; If the system fails to predict the conflict, resulting in an actual collision of the laser heads or path overlap, the system will immediately execute a fallback mechanism to undo the printing operation in the conflicting area, re-plan the path, and resume printing based on the print data.

5. The multi-laser 3D printing path planning method based on collaborative optimization as claimed in claim 4, characterized in that: The load balancing adjustment of the real-time path based on the collision avoidance rule includes generating an initial path based on the model area division; Select the starting point and end point, and choose the algorithm for path generation; Through the feedback mechanism, the laser head adjusts the allocation of the printing area in real time according to the current printing progress and path status; By detecting the path length of the laser head, the system will reallocate the printing area in real time to ensure that the laser head is always in the working state of the shortest path; The system monitors the working path of each laser head in real time and outputs the current path length; If an increase in path length is detected, the system readjusts the working area of ​​the laser head; The system dynamically adjusts the printing area of ​​the laser head according to the complexity of the current path and the task load; Based on real-time feedback, the system uses a local dynamic area allocation algorithm to split the laser head path area and assign the remaining tasks to the remaining laser heads.

6. The multi-laser 3D printing path planning method based on collaborative optimization according to claim 5, characterized in that: The adaptively ending and summarizing data includes printing tasks completed based on all laser heads; When the last laser head completes the work of the assigned area, the system will automatically terminate all adaptive adjustment operations; Termination conditions include: All laser heads complete the printing task within the designated area; There is no remaining print area to reallocate; The system's load balancing and path optimization operations no longer need to be performed; If the system detects that during the last stage of the adaptive adjustment process, the load distribution and path optimization no longer need to be adjusted and the load of the laser head has been balanced, the adaptive mechanism will be gradually turned off; The system turns off the conflict detection and avoidance mechanism after confirming that the paths of all laser heads have been completed and there are no more potential conflicts.

7. The multi-laser 3D printing path planning method based on collaborative optimization according to claim 6, characterized in that: The self-adaptation ends and data is summarized including that after the self-adaptation ends, the system summarizes and analyzes the entire printing task and generates a data report; The system records the total path length performed by each laser head during the entire printing process; Record the workload of each laser head in the task, including working time, printing task volume and area; If the load on the laser head is unbalanced, the system adjusts the future load distribution strategy by optimizing subsequent tasks; The system records all conflicts and collision avoidance operations during the printing process, and analyzes the time, location and handling methods of the conflicts.

8. A system using the multi-laser 3D printing path planning method based on collaborative optimization as claimed in any one of claims 1 to 7, characterized in that: It includes a region division module, an adaptive region allocation module, and an adaptive end module; The area division module is used to divide the 3D model into a number of printing areas; The adaptive area allocation module is used to adjust the path and load balance in real time; The adaptive termination module is used to distribute the load and stabilize the path optimization.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the multi-laser 3D printing path planning method based on collaborative optimization described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the multi-laser 3D printing path planning method based on collaborative optimization described in any one of claims 1 to 7 are implemented.

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