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

Abstract

The application discloses a kind of based on collaborative optimization's multi-laser 3D printing path planning method and system, it is related to multi-laser 3D printing path planning and optimization technical field, including the equal-area division to the 3D model to be printed;Real-time path is adjusted based on collision avoidance rule load balancing;Adaptive end and data are summarized.The equal-area division step of the method for planning printing path of 3D printing based on collaborative optimization provided by the application improves the overall work efficiency of the system, through the step of detailed layering division, the system can more accurately handle complex geometric structures, improve the safety and smoothness of printing, through real-time load balancing and path adjustment, avoid the delay caused by the task of some laser heads being too large.By monitoring and automatic adjustment, the system realizes the optimization of adaptive working path, improves the overall printing efficiency, and the application achieves better results in smoothness, safety and printing efficiency.

Description

TECHNICAL FIELD

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

[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 gradually cannot meet the demand for high efficiency and high precision. Multi-laser 3D printing technology emerges as the times require, which realizes large-scale and efficient production through the parallel work of multiple laser heads. However, the existing multi-laser 3D printing technology still faces many challenges: such as the complexity of path planning, path conflict between multiple laser heads, and uneven load distribution of printing tasks. These problems lead to low efficiency and printing defects in the printing process, making it difficult to fully exert the advantages of multi-laser technology. The path planning methods in the prior art are mostly based on fixed region division and static path generation, which cannot adaptively adjust the path in a dynamic environment, limiting the further improvement of printing efficiency.

[0003] The path conflict problem is particularly evident when the existing multi-laser 3D printing technology deals with complex geometric structures. Since multiple laser heads share the working area, path overlap and conflict occur from time to time. The existing collision avoidance rules often rely on fixed paths and region division, lacking flexibility and adaptability. In addition, the problem of uneven load distribution also limits the efficiency of collaborative work of multiple laser heads. Some laser heads may be delayed due to excessive workload, while other laser heads are idle due to insufficient tasks. In contrast, the present application dynamically adjusts the working area and path planning through collaborative optimization, and proposes an innovative solution to the path conflict and uneven load problems. It uses a real-time monitoring and feedback mechanism, combines load balancing and path optimization of collision avoidance rules, to ensure seamless collaboration of multiple laser heads during printing, maximize system efficiency and improve printing quality. SUMMARY

[0004] In view of the above problems, the present application is proposed.

[0005] Therefore, the technical problem solved by the present application 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 application provides the following technical scheme: a multi-laser 3D printing path planning method based on collaborative optimization, comprising: performing equal-area division on a 3D model to be printed; adjusting the real-time path based on the load balancing of the collision avoidance rule; adaptively ending and summarizing the data.

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

[0008] The geometric information comprises the overall size, volume and detail complexity of each local part of the model;

[0009] The total area and volume data of the model are collected, and the model is divided into equal-area regions according to the number of laser heads;

[0010] Each region is assigned to a laser head for printing tasks;

[0011] The model is divided by layers, the overall height of the model is divided 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 scheme of the multi-laser 3D printing path planning method based on collaborative optimization, wherein: the equal-area division of the 3D model to be printed comprises designing collision avoidance rules from time and space dimensions;

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

[0014] A safety boundary is set, which is set according to the size of the laser head, the diameter of the laser focal point, and the diffusion range parameters of the printing material, and the safety distance model is represented as:

[0015]

[0016] Wherein, D s represents the safety distance, d l represents the focal point diameter of the laser head, d m represents the diffusion diameter of the printing material in the heated 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 different times in the area where the paths intersect, and avoid more than one laser head entering the same or adjacent area at the same time;

[0018] A working area priority model is constructed to set the priority of the working area for different laser heads, and the priority is dynamically adjusted according to the complexity of the printing area and the task urgency factors, and is represented as:

[0019]

[0020] Wherein, P iPriority of the i-th laser head, C i Geometric complexity of the printing area, T i Urgency of the task.

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

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

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

[0024] When a conflict is detected, the system automatically adjusts the path and working order;

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

[0026] When two laser heads enter the same space area, the system immediately makes adjustments to extend the path of the low-priority laser head or change the working area of the low-priority laser head to avoid conflicts;

[0027] If path adjustment cannot avoid conflicts, the system temporarily suspends the work of the low-priority laser head, and resumes after the other laser head is completed;

[0028] If the system fails to predict conflicts, resulting in actual collision or path overlap of the laser heads, the system will immediately execute a rollback mechanism to cancel the printing operation in the conflict area, re-plan the path, and resume printing according to the printing data.

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

[0030] Selecting the starting point and the ending point, and selecting the path generation algorithm;

[0031] Through the feeding mechanism, the laser head adjusts the distribution of the printing area in real time according to the current printing progress and path state;

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

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

[0034] If the path length is detected to increase, the system re-adjusts 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 allocate the remaining tasks to the remaining laser heads.

[0037] As a preferred scheme of the multi-laser 3D printing path planning method based on collaborative optimization, the adaptive ending and summarizing data includes the printing tasks completed by all laser heads;

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

[0039] The termination conditions include:

[0040] All laser heads complete the printing task in the specified area;

[0041] There is no remaining printing area to be reallocated;

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

[0043] If the system detects that the load allocation and path optimization no longer need to be adjusted during the adaptive adjustment process in the last stage, the load of the laser head is balanced, and the adaptive mechanism will be gradually closed;

[0044] The system confirms that the paths of all laser heads have been completed and there are no potential conflicts, and closes the conflict detection and avoidance mechanism.

[0045] As a preferred scheme of the multi-laser 3D printing path planning method based on collaborative optimization, the adaptive ending and summarizing data includes, after the adaptive ending, the system summarizes and analyzes the entire printing task, and generates a data report;

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

[0047] The system records the work load of each laser head in the task, including working time, printing task amount and area;

[0048] If the load of the laser head is unbalanced, the system adjusts the future load allocation strategy through the optimization of subsequent tasks;

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

[0050] Another object of the present application 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 and collision avoidance rules, and solve the problem of path overlap and conflict in the current multi-laser 3D printing technology.

[0051] As a preferred scheme of the multi-laser 3D printing path planning system based on collaborative optimization, the system comprises a region division module, an adaptive region allocation module, and an adaptive end module; the region division module is used to divide the 3D model into a plurality of printing regions; the adaptive region allocation module is used to adjust the path and load balancing in real time; and the adaptive end module is used to allocate the load and stabilize the path optimization.

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

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

[0054] The multi-laser 3D printing path planning method based on collaborative optimization provided by the present application can achieve balanced allocation of task load, reduce the idle time of the laser head, and improve the overall work efficiency of the system through the equal-area division step. Through the refinement of the layer division step, the system can more accurately process complex geometric structures. Through the design of the collision avoidance rule, the system effectively avoids the conflict caused by the overlap of the laser head paths during printing, improving the safety and smoothness of printing. Through real-time load balancing and path adjustment, the task burden of each laser head is reasonably distributed, avoiding delays caused by excessive task load of some laser heads. Through monitoring and automatic adjustment, the system realizes adaptive optimization of the working path, improving the overall printing efficiency. The present application achieves better results in terms of smoothness, safety, and printing efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0056] Figure 1 A multi-laser 3D printing path planning method based on collaborative optimization is provided for the first embodiment of the present application.

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

[0058] To make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0059] Embodiment 1, with reference to Figure 1 For an embodiment of the present application, a collaborative optimization-based multi-laser 3D printing path planning method is provided, comprising:

[0060] S1: Equi-area partitioning is performed on a 3D model to be printed.

[0061] Further, geometric information of the 3D printing model is acquired;

[0062] The geometric information includes the overall size, volume and detail complexity of each local part of the model;

[0063] The total area and volume data of the model are collected, and the model is partitioned into equi-area regions according to the number of laser heads;

[0064] Each region is assigned to a laser head for printing tasks;

[0065] The model is partitioned by levels, the overall height of the model is divided 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 collision of laser heads in space, a space collision avoidance rule must be set for the working area of each laser head during path planning.

[0067] Work area partitioning: 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 boundary setting: a safety distance is set on the boundary of the working area of the laser head. This safety distance can be set according to the size of the laser head, the diameter of the laser focal point, and the diffusion range of the printing material, etc., to ensure that the laser head does not approach the boundary of the adjacent area during printing.

[0069] The safety distance model is represented as:

[0070]

[0071] where D s represents the safety distance, d l represents the focal point diameter of the laser head, d m represents the diffusion diameter of the printing material in the heated state, and Δd represents the additional safety margin set by the system.

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

[0073] It should also be noted that in the time dimension, the collision avoidance rule ensures that the laser heads work at different times in the area where the paths intersect, avoiding multiple laser heads entering the same or adjacent areas at the same time.

[0074] Working area priority: set the priority of the working area for different laser heads. The laser head with higher priority enters the area first, and other laser heads enter the area after it completes its work. The priority is dynamically adjusted according to factors such as the complexity of the printing area, the urgency of the task, etc., and is represented as:

[0075]

[0076] where P i represents the priority of the i-th laser head, C i represents the geometric complexity of the printing area, and T i represents the urgency of the task.

[0077] S2: Real-time path adjustment based on collision avoidance rule load balancing.

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

[0079] In actual printing process, the system will detect the motion trajectory of each laser head in real time through sensors and monitoring modules. If a conflict is detected, the system will automatically adjust the path and working order.

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

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

[0082] If path adjustment cannot completely avoid conflicts, the system can temporarily suspend the operation of one of the laser heads, and then resume after the other laser head completes.

[0083] In rare cases, if the system fails to predict conflicts, resulting in actual collisions or path overlaps between laser heads, the system will immediately execute a rollback mechanism, undo the printing operation in the conflict area, re-plan the path, and resume printing according to the printing data.

[0084] Through the position sensor, the system detects path conflicts and automatically stops printing in the conflict area, and records the conflict position.

[0085] The system undoes the printing in the conflict area and re-plans the path for that area to ensure that conflicts do not occur again when printing is resumed.

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

[0087] The collision avoidance design combines time and space dimensions to ensure that laser heads can work efficiently and collaboratively in complex 3D printing tasks, greatly reducing the likelihood of path conflicts.

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

[0089] According to the urgency of the task and the geometric complexity, the system dynamically adjusts the working order of the laser heads, avoiding the phenomenon of multiple laser heads competing for the same working area.

[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 will monitor the working path of each laser head in real time and calculate its current path length. If an abnormal increase in path length is detected (such as encountering complex geometric structures or a region that is too large), the system will re-adjust the working area of that laser head.

[0092] The system dynamically adjusts the printing area of the laser heads according to the complexity of the current path, task load, etc. The area adjustment follows the principle of "reducing the burden of laser heads and distributing reasonable paths", i.e. by reducing the path length, the laser heads continue to maintain high efficiency.

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

[0094] During printing, the workload of certain laser heads can increase significantly due to complex geometries or long paths. To prevent these laser heads from overworking, the system dynamically adjusts the workload, ensuring an even distribution of tasks among all laser heads.

[0095] The system monitors the real-time task volume of each laser head, including its working time, path length, and complexity. If the load of a certain laser head exceeds a pre-set threshold, the system automatically triggers a load balancing adjustment.

[0096] The system splits the workload of complex geometric areas into sub-tasks and dynamically assigns these sub-tasks to other laser heads with lighter tasks. The principle followed in distribution is to prioritize the workload to laser heads closer to the area to reduce the overall path length.

[0097] After dynamic adjustment, the system ensures that the boundaries of the re-assigned areas remain smooth and non-intersecting, avoiding path conflicts when multiple laser heads work.

[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, ensuring that the laser head with the shortest path completes its task first.

[0099] Based on the current path length of each laser head, the system assigns it a priority. Laser heads with high priority will complete their current tasks first, while laser heads with low priority will adjust their entry time into the area to avoid path conflicts.

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

[0101] When a laser head's path is about to enter the working area of another laser head, the system automatically adjusts the path to ensure that the laser head does not enter the boundary of another laser head, avoiding intersection and overlap.

[0102] The system predicts the possible intersection points of each laser head by monitoring its boundary and path in real time. When a potential conflict is detected, the system will adjust the trajectory of the laser head through a path optimization algorithm, ensuring that each laser head works within its assigned safe area.

[0103] The avoidance strategy includes adjusting the path order, temporarily pausing the work of a certain laser head, or avoiding conflicts by path detours. The system will automatically select the optimal strategy according to different scenarios.

[0104] During printing, the system optimizes paths based on real-time feedback of 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 obtains the printing progress, path length, and working status of each laser head through sensors. If it finds that the path efficiency of a certain laser head is low, it 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 laser head paths, optimizing the angles at path turns, or adjusting the working speed of laser heads, ensuring that each path is in the optimal state.

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

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

[0109] The system uses path re-planning algorithms to provide optimal avoidance paths, ensuring that laser heads avoid conflicts without affecting printing efficiency. The feedback mechanism can also suggest adjusting the working order of laser heads to reduce conflicts.

[0110] S3: Adaptive adjustment mechanism ends and data is summarized.

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

[0112] All laser heads have completed their printing tasks in the designated area.

[0113] There are no remaining printing areas that need to be reassigned.

[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 during the final stage of adaptive adjustment, load distribution and path optimization have stabilized (i.e., printing paths no longer need to be adjusted, and the load of laser heads has been balanced), the adaptive mechanism will be gradually closed. This closing is gradual to avoid sudden work stoppage when the system is closed. The conflict detection module in the system confirms that all laser head paths have been completed and there are no potential conflicts, and closes the conflict detection and avoidance mechanism, marking the formal end of the adaptive part.

[0116] It should also be noted that after the end of the adaptive, 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 records 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 on similar geometric structures. The system records the workload of each laser head in the task, including working time, printing task volume, and area size. If the load of a certain laser head is unbalanced, the system will adjust the future load distribution strategy through subsequent task optimization. The system records all conflicts and collision avoidance operations during printing, analyzes the time, location, and processing method of the conflict. These data will help the system optimize future conflict detection algorithms and collision avoidance mechanisms to further improve task safety and efficiency.

[0117] Furthermore, after confirming that all tasks have been completed, the system switches the laser heads and printing modules to standby mode. This process includes:

[0118] Turn off the working power of the laser heads to prevent overheating or wear 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 start of the next printing task.

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

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

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

[0124] First, the complex 3D model to be printed is divided into multiple equal-area regions, and path optimization is performed based on collision avoidance rules and load balancing mechanisms. The experimental specific model is an industrial part, including several complex geometric details and high-precision required regions.

[0125] The experimental subjects include:

[0126] Test subject 1 (the present application): The collaborative optimization-based multi-laser 3D printing path planning method of the present application is adopted, the model is divided into multiple regions in the manner of equal-area division, and each laser head is responsible for a single region. The system monitors the path state of the laser head in real time, adjusts the load according to the collision avoidance rules, avoids path conflicts, and ensures balanced allocation of the working area. An adaptive path optimization mechanism is adopted during printing, the tasks of the laser heads are adjusted according to the real-time path state, and finally the printing task is ended by summarizing the data.

[0127] Test subject 2 (control group): The existing static path planning technology is adopted in the control group, the model is still divided into multiple regions, but the 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 printing, the system has no adaptive adjustment function, and the printing task is directly ended after completion, without data summarization 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 regions. For the system of the present application, the collision avoidance rules are considered during division and the tasks of each laser head are adjusted in real time. The control group adopts fixed region division and does not consider real-time path adjustment. During the experiment, the present application 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 have overlapping tendency, the system adjusts the path priority and task allocation dynamically to ensure that no conflict occurs. The control group completely relies on the initial path planning and has no dynamic adjustment. During printing, the present application adjusts the task area of each laser head according to the task load and path state to ensure that each laser head is in the shortest path state and avoid long-term invalid work. After the task is completed, the system summarizes the working data of each laser head to provide reference for subsequent task optimization. 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] From the experimental data table, it can be clearly seen that the present application has significant improvement in multiple key indicators compared with the existing technology. The specific analysis is as follows:

[0132] Average path length: The average path length of the printing path in the present invention is 1500 mm, while the path length of the control group is 1750 mm, which is reduced by 250 mm. This shows that through the synergistic optimization and real-time path adjustment, the present invention can effectively shorten the movement path of the laser head, thereby improving the printing efficiency. The shortening of the path length directly reduces the moving 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] Path conflict times: Test object 1 (the present invention) did not occur path conflict in the experiment, while the control group occurred 5 times path conflict. This shows that the collision avoidance rules and load balancing mechanism of the present invention can effectively avoid path overlap and conflict in real-time environment, ensuring seamless collaboration of multiple laser heads in complex geometric structures. The reduction of path conflict improves the safety of the system and reduces the interruption or failure of the printing task caused by conflict.

[0134] Average printing time: The average printing time of the present invention is 45 minutes, and the control group is 60 minutes, which is shortened by 25%. This difference is mainly due to real-time path optimization and load balancing adjustment. The present invention can dynamically adjust task allocation according to the real-time state of the laser head, ensuring that each laser head does not have too much waiting time after completing the task, further improving the printing efficiency. While the control group has fixed path and uneven task allocation, resulting in some laser heads having too much or too little tasks, increasing the printing time.

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

[0136] Device load balancing degree: The device load balancing degree of the present invention is 90%, which is significantly higher than the 70% of the control group. This data shows that the present invention can adjust the task allocation of the laser head in real time, ensuring the load balancing of each laser head, avoiding some laser heads having too much or too little tasks, and improving the stability and efficiency of the whole system. While the control group cannot adjust in real time, resulting in some laser heads having too much work load, affecting the collaborative work effect of the system.

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

[0138] Example 3, refer to Figure 2For an embodiment of the present application, a multi-laser 3D printing path planning system based on collaborative optimization is provided, including a region division module, an adaptive region allocation module, and an adaptive end module 。

[0139] The region division module is used to divide a 3D model into a plurality of printing regions, the adaptive region allocation module is used to adjust a path and load balance in real time, and the adaptive end module is used to allocate a load and stabilize path optimization.

[0140] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the present application that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

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

[0142] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection (electronic) having one or more wires, a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can also be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via an optical scanner, then compiled, interpreted, or otherwise processed, and stored in a computer memory in a form that is then reproducible into a computer readable medium.

[0143] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the embodiments described above, various steps or methods can be implemented, for example in software or firmware, stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or combinations thereof, can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and so forth. It should be appreciated that the foregoing examples have been given for illustrative purposes only and are not intended to limit the techniques of the present application, as described herein, in that as persons skilled in the art will recognize from this disclosure that other configurations comprising substitutions, combinations and / or equivalents can be used without departing from the spirit and scope of the present application as defined by the appended claims.

[0144] It should be understood that the foregoing examples have been given for illustrative purposes only and are not intended to limit the techniques of the present application, as described herein, in that as persons skilled in the art will recognize from this disclosure that other configurations comprising substitutions, combinations and / or equivalents can be used without departing from the spirit and scope of the present application as defined by the appended claims.

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-area sections; The process of dividing the 3D model to be printed into equal areas includes obtaining the geometric information of the 3D printing model. Geometric information includes the model's overall dimensions, volume, and the detail complexity of each local area; Collect the total area and volume data of the model, and divide the model into regions of equal area according to the number of laser heads; Each area is assigned to a laser head for printing. The model is divided into layers, with the overall height of the model divided along the Z-axis. The thickness of each layer is set according to the printing accuracy and the working characteristics of the laser head. Each layer is then divided horizontally according to the geometric complexity. The process of dividing the 3D model to be printed into equal areas includes designing collision avoidance rules from both temporal and spatial dimensions. Based on the model's partitioning results, the working area of ​​each laser head is allocated by the system and it operates within the allocated area; The safety boundary is set based on the size of the laser head, the diameter of the laser focus, and the diffusion range parameters of the printing material. The safety distance model is expressed as follows: , in, Indicates a safe distance. This indicates the focal diameter of the laser head. This indicates the diffusion diameter of the printing material under heating conditions. This indicates the additional safety margin set by the system; In the time dimension, the collision avoidance rule ensures that the laser heads work at different times in areas where 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 assign priorities to different laser heads. These priorities are dynamically adjusted based on the complexity of the printing area and the urgency of the task, and are represented as follows: , in, This indicates the priority of the i-th laser head. Indicates the geometric complexity of the printed area. Indicates the urgency of the task; Real-time path adjustment based on collision avoidance rules and load balancing; The adaptive process ends and the data is summarized.

2. The multi-laser 3D printing path planning method based on collaborative optimization as described in claim 1, characterized in that: The real-time path adjustment based on collision avoidance rules for load balancing includes path adjustment of the laser head; When the paths of two laser heads overlap in space, the system automatically allocates working time according to priority. During the printing process, the system uses sensors and a monitoring module to detect the movement trajectory of each laser head in real time; When a path conflict is detected, the system automatically adjusts the path and the order of operations; The system monitors the position, speed, and operating status of the laser head in real time; If two laser heads are detected entering the same spatial area, the system will immediately make adjustments, either by extending the path of the lower-priority laser head or by changing the working area of ​​the lower-priority laser head to avoid conflict. If path adjustment cannot avoid conflict, the system will temporarily suspend the operation of the low-priority laser head and resume operation after the other laser head has finished. If the system fails to predict the conflict, resulting in an actual collision or path overlap of the laser head, the system will immediately execute a rollback mechanism to cancel the printing operation in the conflict area, replan the path, and resume printing based on the printing data.

3. The multi-laser 3D printing path planning method based on collaborative optimization as described in claim 2, characterized in that: The real-time path adjustment based on collision avoidance rules for load balancing includes generating an initial path after model region division; Choose the start and end points, and select the algorithm for path generation; Through a feedback mechanism, the laser head adjusts the allocation of the printing area in real time based on the current printing progress and path status; The system detects the path length of the laser head and reallocates the printing area in real time to ensure that the laser head is always in the shortest path working state. 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 based on the complexity of the current path and the workload; Based on real-time feedback, the system adopts a local dynamic region allocation algorithm to split the laser head path region and allocate the remaining tasks to the remaining laser heads.

4. The multi-laser 3D printing path planning method based on collaborative optimization as described in claim 3, characterized in that: The adaptive termination and data aggregation includes printing tasks completed by all laser heads; Once the last laser head has finished working in its 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 that needs to be reallocated; The system's load balancing and path optimization operations no longer need to be performed; If the system detects that load distribution and path optimization no longer need adjustment during the final stage of adaptive adjustment, and the load on the laser head has been balanced, the adaptive mechanism will be gradually turned off. Once the system confirms that the paths of all laser heads have been completed and there are no more potential conflicts, it disables the conflict detection and avoidance mechanisms.

5. The multi-laser 3D printing path planning method based on collaborative optimization as described in claim 4, characterized in that: The adaptive completion and data summary includes the system summarizing and analyzing the entire printing task and generating a data report after the adaptive process ends; The system records the total path length executed by each laser head throughout the entire printing process; Record the workload of each laser head during the task, including working time, print volume, and area; If the load on the laser head is uneven, the system will adjust the load distribution strategy for future tasks through optimization. The system records all collisions and collision avoidance operations during the printing process, and analyzes the time, location, and handling method of the collisions.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the multi-laser 3D printing path planning method based on collaborative optimization as described in any one of claims 1 to 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the multi-laser 3D printing path planning method based on collaborative optimization as described in any one of claims 1 to 5.

Images