Multi-laser 3D printing control method and system, electronic equipment and storage medium

Abstract

The invention provides a multi-laser 3D printing control method, a multi-laser 3D printing control system, electronic equipment and a storage medium, and aims to realize multi-laser workload equipartition and optimize the multi-laser 3D printing working efficiency to the greatest extent. The method comprises the steps of obtaining at least one part digital model corresponding to at least one target part, performing slicing processing, and determining a two-dimensional contour graph corresponding to the at least one part digital model in a plurality of slicing layers; in the slice layer, the two-dimensional contour graph is scanned and divided, and a plurality of scanning path line segments are generated; dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators, wherein the workload corresponding to the plurality of line segment groups is equal; traversing the plurality of slice layers, and determining a plurality of line segment groups corresponding to each laser generator in the plurality of slice layers; and the multiple laser generators are controlled to execute 3D laser printing according to the multiple corresponding line segment sets.

Description

Technical Field

[0001] The present invention relates to the field of 3D laser printing technology, and in particular to a multi-laser 3D printing control method, system, electronic device and storage medium. Background Art

[0002] At present, laser 3D printing devices on the market often use multiple lasers to work concurrently and simultaneously to improve printing efficiency due to limited molding efficiency. The concurrent work strategy is usually to divide the forming area into several fixed areas, and each laser is responsible for one area and works independently. However, due to the randomness of the placement of parts in actual production, it is impossible to ensure that the printing area corresponding to each laser has the same workload on each layer. This will cause the laser with a short working time to stop and wait for the laser with a long working time to complete the task before proceeding to the next step, resulting in a loss of work efficiency.

[0003] Some related technical solutions provide a solution by setting the parts to be printed at the position where the workload of each laser can be evenly divided during slicing, and defining the position of the stitching line to artificially improve the uniformity of the workload distribution of each laser. This solution still has certain disadvantages: the part position cannot be moved flexibly after it is set; the inherent complexity of the 3D part structure makes it difficult to evenly distribute the workload and cannot achieve the best effect; and this solution is only applicable to the case of printing a single part, which has great limitations. Summary of the invention

[0004] In view of this, the embodiments of this specification provide a multi-laser 3D printing control method, system, electronic device and storage medium, which can achieve equal distribution of the workload of multiple lasers and optimize the multi-laser 3D printing work efficiency to the greatest extent.

[0005] In a first aspect, an embodiment of the present specification provides a multi-laser 3D printing control method, the method being applied to a multi-laser 3D printing device, wherein the device is provided with a plurality of laser generators, the method comprising:

[0006] Acquire at least one part digital model corresponding to at least one target part to be printed;

[0007] Slicing at least one of the digital models of the part to determine at least one two-dimensional contour graphic corresponding to the digital model of the part in a plurality of slice layers;

[0008] In the slice layer, scanning and dividing at least one of the two-dimensional contour graphics, dividing the two-dimensional contour graphics into a plurality of scanning path segments;

[0009] Dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators, wherein the workloads corresponding to the plurality of line segment groups are equal;

[0010] Traversing the plurality of slice layers, and determining a plurality of line segment groups corresponding to each of the laser generators in the plurality of slice layers;

[0011] The plurality of laser generators are controlled to perform 3D laser printing according to the corresponding plurality of line segment groups.

[0012] The embodiment of this specification also provides a multi-laser 3D printing control system, which is applied to a multi-laser 3D printing device, in which a plurality of laser generators are arranged; the system comprises:

[0013] A digital model data acquisition module, used to acquire at least one part digital model corresponding to at least one target part to be printed;

[0014] A digital model slicing module, used to slice at least one of the digital models of the part, and determine at least one two-dimensional contour graphic corresponding to at least one of the digital models of the part in multiple slice layers;

[0015] A scanning and dividing module, used for scanning and dividing at least one of the two-dimensional contour graphics in the slice layer, and dividing the two-dimensional contour graphics into a plurality of scanning path segments;

[0016] A line segment group division module, used for dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators, wherein the workloads corresponding to the plurality of line segment groups are equal;

[0017] a slice layer traversal module, used to traverse the plurality of slice layers to determine a plurality of line segment groups corresponding to each of the laser generators in the plurality of slice layers; and

[0018] The laser printing control module is used to control the plurality of laser generators to perform 3D laser printing according to the corresponding plurality of line segment groups.

[0019] The embodiment of the present specification also provides a multi-laser 3D printing control electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the multi-laser 3D printing control method as described in the first aspect is implemented.

[0020] The embodiments of this specification also provide a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the multi-laser 3D printing control method as described in the first aspect.

[0021] It can be seen from the above that the multi-laser 3D printing control method, system, electronic device and storage medium provided in the embodiments of this specification have the following beneficial technical effects:

[0022] (1) Slice the part digital model of one or more target parts, divide the part digital model into multiple slice layers, and determine the two-dimensional contour graphics of one or more target parts in the layer in the slice layer. Further scan and divide the two-dimensional contour graphics corresponding to one or more target parts in the slice layer to determine all the scanning path segments in the slice layer. The scanning path segment is used as the minimum unit to measure the computing workload, and multiple segment groups with matching and equal workload are determined for multiple laser generators in the slice layer. The same idea is used to traverse multiple slice layers, and the segment groups corresponding to multiple laser generators are determined in multiple slice layers. In this way, it can be ensured that the printing workload of multiple laser generators in each slice layer is equal, and the time required to perform 3D laser printing work is the same, that is, in each slice layer, multiple laser generators can complete the printing work at the same time. In this way, it can effectively avoid the time waste caused by some laser generators that complete the work in advance waiting for other laser generators, thereby optimizing the efficiency of multi-laser 3D printing work to the greatest extent.

[0023] (2) It is possible to print multiple target parts simultaneously. The multiple target parts are independent of each other and do not interfere with each other. The working efficiency of the multi-laser 3D printing device is improved from the overall level of the parts. Furthermore, it can be compatible with different thickness parameters of different parts, further improving the applicability of the solution.

[0024] (3) Even if the multiple laser generators in the multi-laser 3D printing device have working area restrictions, the workload of the multiple laser generators can be evenly distributed to the maximum extent, the waiting time of the laser generator in each slice layer can be shortened as much as possible, and the multi-laser 3D printing work efficiency can be optimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0026] Figure 1 A schematic diagram of a multi-laser 3D printing control method provided by one or more optional embodiments of this specification is shown;

[0027] Figure 2A schematic diagram showing a method for controlling a multi-laser 3D printing provided by one or more optional embodiments of the present specification, in which a two-dimensional contour image is divided into a plurality of scanning path segments;

[0028] Figure 3 Another schematic diagram showing the division of a two-dimensional contour image into a plurality of scanning path segments in a multi-laser 3D printing control method provided by one or more optional embodiments of the present specification;

[0029] Figure 4 A schematic diagram of a method for dividing a plurality of scanning path segments in a slice layer into a plurality of segment groups in a multi-laser 3D printing control method provided by one or more optional embodiments of the present specification is shown;

[0030] Figure 5 A schematic diagram showing a method for determining the workload of a corresponding layer of a slice layer in a multi-laser 3D printing control method provided by one or more optional embodiments of this specification;

[0031] Figure 6 A schematic diagram showing the relationship between the wind field direction in the printing format and the scanning direction of laser printing in a multi-laser 3D printing control method provided by one or more optional embodiments of this specification is shown;

[0032] Figure 7 A schematic diagram of a method for determining zero-order, first-order, and second-order vector data in a multi-laser 3D printing control method provided by one or more optional embodiments of this specification is shown;

[0033] Figure 8 A schematic diagram of a method for displacing a digital model of a part in a multi-laser 3D printing control method provided in one or more optional embodiments of this specification is shown;

[0034] Fig. 9 A schematic diagram showing a method for determining a plurality of line segment groups based on an arrangement order of laser generators in a multi-laser 3D printing control method provided by one or more optional embodiments of the present specification is shown;

[0035] Fig.10 A schematic diagram showing the arrangement of some scanning path segments in the slice layer in a multi-laser 3D printing control method provided in one or more optional embodiments of this specification is shown;

[0036] Fig.11 A schematic diagram of another method for determining a plurality of line segment groups based on an arrangement order of laser generators in a multi-laser 3D printing control method provided by one or more optional embodiments of the present specification is shown;

[0037] Fig.12A schematic diagram of a method for adjusting multiple line segment groups in a multi-laser 3D printing control method provided by one or more optional embodiments of this specification is shown;

[0038] Fig.13 A schematic diagram showing the positional relationship between multiple laser generators and corresponding working areas in a multi-laser 3D printing control method provided by one or more optional embodiments of this specification is shown;

[0039] Fig.14 A schematic diagram of the structure of a multi-laser 3D printing control system provided by one or more optional embodiments of this specification is shown;

[0040] Fig.15 A schematic diagram of the structure of a multi-laser 3D printing control electronic device provided by one or more optional embodiments of this specification is shown. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0042] At present, laser 3D printers on the market often use multiple lasers to work concurrently and simultaneously to improve printing efficiency due to limited molding efficiency. The concurrent work strategy is usually to divide the forming area into several fixed areas, and each laser is responsible for one area and works independently. However, due to the randomness of the placement of parts in actual production, it is impossible to ensure that the printing area corresponding to each laser has the same workload on each layer. This will cause the laser with a short working time to stop and wait for the laser with a long working time to complete the task before proceeding to the next step, resulting in a loss of work efficiency.

[0043] Some related technical solutions provide a solution by placing the parts as close as possible to the position where the workload of each laser can be equally divided during slicing, and artificially improving the uniformity of the distribution of the workload of each laser by defining the position of the splicing line. However, this solution still has some disadvantages:

[0044] (1) Once the part position is set, it cannot be moved over a large range.

[0045] For a single laser device, one laser can cover the entire printing format, and the parts after slicing can be moved uniformly, and each line segment of the moved parts can still be scanned by the laser. However, for multi-laser devices, since the corresponding lasers have been assigned to each part of the part during slicing, and the coverage of the laser is fixed and cannot reach the full format, the position of the part is usually bound to the printing format after successful slicing and cannot be moved. Taking three lasers (numbered 1, 2, and 3) as an example, part of the part is on the far right (the area divided by laser 3) during slicing, and the scanning instructions for each line segment will be transmitted to laser 3 when slicing is completed. If the part is moved from the area of ​​laser 3 to the area of ​​laser 2 during printing, laser 3 will not be able to execute these scanning commands, resulting in printing failure. In addition, once the part position is moved after setting, it is very likely to cause the workload of multiple lasers to be unbalanced again.

[0046] (2) The so-called uniform workload achieved by this method is not actually the optimal solution that can be achieved.

[0047] The structure of 3D laser-printed parts is complex, and it is difficult for humans to determine where the splicing line should be defined to achieve a uniform workload. In addition, the workload distribution between layers is different. After the splicing line position is determined, the workload may be evenly distributed on the first layer, but it may be completely uneven on the second layer, or even very different.

[0048] (3) The above solution is only applicable to the printing of a single part.

[0049] The above solution cannot take into account the impact of other slices on the workload distribution. Whenever other parts that need to be printed are added to the printing format of the multi-laser printing equipment, the staff needs to readjust the position of the splicing line in time. In addition, in the case of multi-part printing, the workload of part printing is more complicated. Based on personal work experience, the position of the splicing line is manually adjusted to improve the uniformity of the workload distribution of each laser, which increases the difficulty of implementation again.

[0050] In response to the above problems, the purpose of the embodiments of this specification is to propose a multi-laser 3D printing control method, which divides the target parts to be printed into the smallest unit of scanning path segments in the slice layer by slicing and scanning, and accurately calculates the scanning workload of each slice layer based on the scanning path segments. On this basis, the dividing line is set to evenly distribute the workload for multiple laser generators, so that the workload can be evenly distributed in each slice layer, which can optimize the multi-laser 3D printing work efficiency to the greatest extent.

[0051] Based on the above objectives, on one hand, an embodiment of the present specification provides a multi-laser 3D printing control method.

[0052] like Figure 1 As shown, a multi-laser 3D printing control method provided in one or more optional embodiments of this specification is applied to a multi-laser 3D printing device, in which a plurality of laser generators are arranged. The method comprises:

[0053] S1: Acquire at least one part digital model corresponding to at least one target part to be printed;

[0054] The part digital model of one or more target parts can be obtained at the same time. The part digital model can be, for example, a model file in .stl format. After the part digital model is obtained, the corresponding model file can be imported into the slicing software to facilitate the subsequent model slicing processing using the slicing software.

[0055] S2: Slice at least one of the digital models of the part to determine at least one two-dimensional contour graphic corresponding to the digital model of the part in multiple slice layers.

[0056] 3D laser printing uses a layer-by-layer printing method, which accumulates layer by layer to eventually form the target part. Therefore, the slicing software can be used to slice the corresponding part digital model of the target part to determine the part structure that needs to be printed in each layer of the target part during 3D laser printing. The slicing process can divide the part digital model into multiple part slices.

[0057] Corresponding to the plurality of part slices, a plurality of slice layers at different heights can be determined in the workspace of 3D laser printing. The slice layer represents a plane at a certain height, and the part slice refers to the part structure of the target part cut off on the plane, which can be embodied in the form of a two-dimensional graphic.

[0058] Therefore, after slicing one or more of the part digital models, one or more two-dimensional contour graphics in each slicing layer can be determined accordingly, and the two-dimensional contour image is used to characterize the part slice of the target part in the slicing layer.

[0059] When performing a slicing operation, slicing processing can be performed on the part digital models of one or more target parts at the same time. The slicing layer can include part slices of one or more target parts in the layer, and the two-dimensional contour graphics of one or more target parts in the slicing layer can be determined accordingly.

[0060] In some optional embodiments, the slicing process for at least one of the part digital models may be performed by the following method: setting a corresponding slice thickness parameter for at least one of the target parts; slicing and dividing the corresponding at least one of the part digital models according to the corresponding slice thickness parameter of at least one of the target parts, so that a plurality of slice layers are generated for each of the part digital models.

[0061] S3: In the slice layer, scan and divide at least one of the two-dimensional contour graphics, and divide the two-dimensional contour graphics into a plurality of scanning path segments.

[0062] 3D laser printing uses a line segment scanning printing working mode in each slice layer, and the segments are combined to form a complete slice layer structure. After determining the two-dimensional contour graphic of the target part in each slice layer, the two-dimensional contour graphic can be filled and divided into multiple scanning path segments for performing scanning and printing work.

[0063] In some optional implementations, the two-dimensional contour graphic is scanned and divided into a plurality of scanning path segments by the following method: determining a printing scanning line spacing parameter and a printing scanning direction for the laser generator to perform 3D laser printing. Based on the printing scanning line spacing parameter, the two-dimensional contour graphic is scanned and divided along the printing scanning direction to generate a plurality of the scanning path segments.

[0064] The scanning line spacing parameter can be selected as a preset parameter, or set by receiving a parameter value through an IO interface, and the scanning line spacing parameter is used to characterize the width of a line segment generated by scanning and printing in 3D printing. The plurality of scanning path line segments determined by scanning division, the line segment spacing is determined according to the printing scanning line spacing parameter, and the plurality of scanning path line segments are parallel to the printing scanning direction.

[0065] refer to Figure 2 As shown, the two-dimensional contour image is taken as a circle for illustration.

[0066] The printing direction of the laser generator for 3D printing is horizontal printing (scanning from left to right or from right to left in the horizontal direction). Therefore, in the slice layer, based on the idea of ​​graphic differentiation, the circular contour can be divided into a plurality of parallel horizontal rectangles with different lengths and the same width.

[0067] Among them, the width of the horizontal rectangle is determined according to the scanning line spacing parameter, and the scanning line spacing parameter refers to the actual width of the part material rectangle printed and generated on the printing path at each moment during the 3D laser printing process of the laser generator, or the distance between each scanning line.

[0068] Therefore, based on the printing scanning line spacing parameters and the printing scanning square, the multiple horizontal rectangles determined by differential scanning division of the circular two-dimensional contour graphic are used to characterize the working path of the laser generator performing scanning printing, and the multiple horizontal rectangles can be used as the scanning path segments.

[0069] Those skilled in the art can understand that, when scanning and dividing are performed based on the idea of ​​graphic differentiation, when the width of the horizontal rectangle is narrow enough, the area of ​​the entire circular contour is equal to the sum of the areas of multiple horizontal rectangles. Combined with the actual physical meaning of the scanning line spacing parameter, the multiple scanning path segments that divide the two-dimensional contour graphic can be determined, which can accurately measure the actual workload that needs to be performed by the laser generator in the slice layer to print and generate the target part in the layer.

[0070] In combination with the above examples, it can be understood that the length of each scanning path line segment (horizontal rectangle) represents the scanning working length of the laser generator in the scanning direction. It should be noted that in actual application scenarios, the working length of the laser generator performing scanning printing may be limited. For example, in some cases, the upper limit of each printing length of each laser generator may be set to 10mm. After completing the printing work of 10mm in length, a jump is executed to start the printing work of the next path.

[0071] Therefore, when dividing the two-dimensional contour graphic into a plurality of scanning path segments, this length limitation can also be considered. In combination with the above example, the circular two-dimensional contour graphic can be scanned and divided into a plurality of parallel horizontal rectangles with a length not exceeding 10 mm and the same width. The generated plurality of scanning path segments are as follows: Figure 3 shown.

[0072] It should be noted that Figure 3 This is a schematic diagram. In order to more clearly show the print length limit in actual application scenarios, Figure 3 The attached Figure 2 Different aspect ratios.

[0073] S4: Divide the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators, wherein the workloads corresponding to the plurality of line segment groups are equal.

[0074] After all the scanning path segments in the slice layer are determined, the multiple scanning path segments can be divided into multiple segment groups with equal workloads, and the segment groups are used to match the multiple laser generators to perform printing. In this way, it can be ensured that in the slice layer, the workload required to print for each laser generator is equal, and the corresponding directed laser printing work duration is also the same.

[0075] like Figure 4 As shown, in a multi-laser 3D printing control method provided in one or more optional embodiments of the present specification, the plurality of scanning path segments in the slice layer are divided into a plurality of segment groups corresponding to the plurality of laser generators, including:

[0076] S201: Determine a layer workload corresponding to the slice layer according to a plurality of the scanning path segments in the slice layer.

[0077] S202: Determine the average workload corresponding to each laser generator of the slice layer according to the layer workload and the number of laser generators.

[0078] After determining the layer workload that needs to be printed in the slice layer, the workload mean is calculated according to the number of the laser generators. The workload mean is the workload that each laser generator needs to perform.

[0079] S203: For the plurality of laser generators, select a plurality of scanning path line segments in the slice layer in sequence to form a plurality of line segment groups corresponding to the plurality of laser generators, and the sum of the workloads of the plurality of scanning path line segments in the line segment group is the workload mean.

[0080] Taking the workload mean as a target, according to the arrangement order of the multiple laser generators, for the multiple laser generators, multiple scanning path segments are selected in turn in the slice layer to form the segment group corresponding to the laser generator, and it is ensured that the sum of the workloads of the multiple scanning path segments in each segment group is equal, which is the workload mean.

[0081] It can be understood by those skilled in the art that in the technical solution of the embodiment of this specification, the workload is measured by the time required to perform scanning and printing. If the workload of multiple line segment groups is equal, then the time required for each laser generator to perform scanning and printing of the corresponding line segment group is also equal, and multiple lasers in the slice layer can complete scanning and printing work at the same time.

[0082] like Figure 5 As shown, in a multi-laser 3D printing control method provided in one or more optional embodiments of the present specification, determining the layer workload corresponding to the slice layer according to the plurality of scanning path segments in the slice layer includes:

[0083] S301: Determine a printing scanning speed of the laser generator performing 3D laser printing.

[0084] When the laser generator performs 3D laser printing, the printing scanning speed for scanning and printing each scanning path can be determined according to a preset scanning speed parameter. Or it can be determined by inputting parameters through an IO interface. It should be noted that the printing scanning speed can be flexibly set and adjusted according to actual application requirements, combined with various conditions such as the power of the printing device and the material of the target part.

[0085] S302: Determine the scanning working time corresponding to the scanning path line segment according to the line segment length of the scanning path line segment and the printing scanning speed, and use the scanning working time as the line workload.

[0086] According to the line segment length of the scanning path line segment and the printing scanning speed, the scanning printing time required by the laser generator when performing the scanning path line segment printing work can be determined. The scanning printing time can be used to measure the printing workload, and the scanning work time corresponding to the scanning path line segment is used as the line workload corresponding to the path line segment.

[0087] In some optional implementations, the scanning working time corresponding to the scanning path segment is determined according to the segment length of the scanning path segment and the printing scanning speed, and the following method can be used:

[0088] The jump time, communication delay time and light-emitting scanning time corresponding to the scanning path segment are determined respectively, and the scanning working time is the sum of the jump time, the communication delay time and the light-emitting scanning time.

[0089] T s =T t +T d +T c

[0090] Among them, T s represents the scanning working time, T t represents the jump time, T d Indicates the communication delay time and indicates the light scanning time.

[0091] The scanning working time is used to represent the overall time taken by the laser generator to perform the scanning and printing work of the scanning path segment. The overall time is composed of three parts, namely:

[0092] The jump time T required for the laser generator to jump between line segments in diameter t ;

[0093] The communication delay time T of the communication control process in which the control board sends the control command to the corresponding laser generator in the multi-laser 3D printing device d ;

[0094] And the laser generator output power to print the actual part structure of the process of light output scanning time T c .

[0095] The jump time and the communication delay time can be determined by querying the working parameter list through a table lookup method. The working parameter list records a plurality of related working parameter information such as jump speed parameters and communication delay parameters.

[0096] The light emission scanning time can be calculated and determined according to the line segment length and the printing scanning speed:

[0097]

[0098] Wherein, L represents the line segment length of the scanning path line segment, and v represents the printing scanning speed of the laser generator performing scanning printing.

[0099] It should be noted that, in general, the jump time and the communication delay time account for a very small proportion of the overall scanning working time and can be ignored or replaced by empirical constants.

[0100] S303: Sum the line workloads corresponding to a plurality of the scanning path line segments in the slice layer to determine the layer workload.

[0101] In the slice layer, the sum of the line workloads corresponding to the plurality of scanning path segments is the layer workload of the entire slice layer.

[0102] S5: traverse the plurality of slice layers to determine a plurality of line segment groups corresponding to each of the laser generators in the plurality of slice layers.

[0103] In the above manner, multiple slice layers are traversed. For multiple slice layers, the line segment groups corresponding to the multiple laser generators are determined as the work tasks of the corresponding laser generators. Thus, for one or more target parts to be printed, the workload of the multiple laser generators is evenly distributed.

[0104] It should be noted that the multi-laser 3D printing device can perform 3D laser printing work for multiple target parts at the same time. There may be differences in the corresponding layer thickness parameters for multiple target parts. Among the multiple slice layers determined after the slicing process, the slice layer may include part slices that only contain one target part, or may also contain part slices of multiple target parts at the same time. By traversing multiple slice layers, regardless of whether there are differences in the layer thickness parameters of multiple target parts, it is possible to perform workload statistics without omission and divide and determine the line segment groups.

[0105] In some optional implementations, after slicing and dividing the part digital model, the method further includes:

[0106] Layer height data corresponding to a plurality of the slice layers corresponding to the part digital model are calculated and determined based on the slice thickness parameter, and a part layer height set is constructed using the plurality of the layer height data.

[0107] Traversing the plurality of slice layers, including:

[0108] In response to the existence of only one slice thickness parameter, the slice layers corresponding to the plurality of layer height data recorded in the part layer height set are traversed.

[0109] When there is only one thickness parameter, it means that one or more target parts use the same thickness parameter.

[0110] Taking the thickness parameter of 0.05 mm as an example, the part layer height set can be expressed as:

[0111] {0, 0.05, 0.10, 0.15, ...}

[0112] The slice layers corresponding to the data elements in the set can be traversed in sequence, so that the workload calculation can be performed on the multiple slice layers without omission, and the corresponding matching line segment groups can be determined for the multiple laser generators in each slice layer.

[0113] In response to the existence of multiple different slice thickness parameters, multiple part layer height sets corresponding to multiple target parts are merged to generate a total layer height set; and the slice layers corresponding to the multiple layer height data in the total layer height set are traversed.

[0114] When there are multiple different slice thickness parameters, it means that the multi-laser 3D printing device can simultaneously perform 3D laser printing work on multiple target parts, and there are differences in the thickness parameters of the multiple target parts.

[0115] Take the example of printing two target parts at the same time, where the thickness parameter of the first target part is 0.04 mm and the thickness parameter of the second target part is 0.05 mm.

[0116] The part layer height sets corresponding to the two target pieces are:

[0117] {0, 0.04, 0.08, 0.12, 0.16, 0.20, 0.24, …}

[0118] {0, 0.05, 0.10, 0.15, 0.20, 0.25, …}

[0119] The two sets are merged, and the data elements with the same value are removed. The total layer height set generated is:

[0120] {0, 0.04, 0.05, 0.08, 0.10, 0.12, 0.15, 0.16, 0.20, 0.24, 0.25, …}

[0121] Then, the slice layers corresponding to the data elements in the total layer height set can be traversed in sequence.

[0122] Among them, the slice layers corresponding to the data elements 0, 0.20, 0.40, ... simultaneously include part slices of the two target parts. In the corresponding slice layers, the multiple laser generators simultaneously perform 3D laser printing of the two corresponding part slices of the two targets. The slice layer includes multiple scanning path line segments of the corresponding part slices of the two target parts, and the multiple line segment groups are determined by workload equalization and allocated to the multiple laser generators for printing.

[0123] The slice layers corresponding to data elements 0.04, 0.08, 0.12, ... only include the part slices of the first target part. In the corresponding slice layers, the multiple laser generators only perform 3D laser printing of the corresponding part slices of the first target part. The slice layer only includes the multiple scanning path line segments of the corresponding part slices of the first target part, and the multiple line segment groups are determined by workload equalization to be allocated to the multiple laser generators for printing.

[0124] The slice layers corresponding to data elements 0.05, 0.10, 0.15, ... only include part slices of the second target part. In the corresponding slice layers, the plurality of laser generators only perform 3D laser printing of the corresponding part slices of the second target part. The slice layer only includes the plurality of scanning path line segments of the corresponding part slices of the second target part, and the plurality of line segment groups are determined by workload equalization to be allocated to the plurality of laser generators for printing.

[0125] In this way, regardless of whether the layer thickness parameters of multiple target parts are the same, the workload of multiple laser generators corresponding to the line segment groups can be ensured to be equal in each slice layer, and at the same time, the 3D laser printing of multiple target parts can be performed without omission. The embodiment of this specification adopts such a method, which can realize the simultaneous printing of multiple target parts and can also be compatible with different thickness parameters of different parts, further improving the applicability of the solution.

[0126] S6: Control the plurality of laser generators to perform 3D laser printing according to the corresponding plurality of line segment groups.

[0127] After the line segment groups corresponding to the multiple laser generators are determined for the multiple slice layers, the multiple laser generators can be controlled to perform 3D laser printing of the corresponding line segment groups in sequence according to the preset jump direction and scanning direction.

[0128] It should be noted that in the embodiments of this specification, the scanning direction of the laser generator for 3D laser printing is opposite to the wind direction of the multi-laser 3D printing device, and the jump direction of the laser emitter for 3D laser printing is perpendicular to the scanning direction as described above. Figure 6 The figure is a schematic diagram showing the relationship between the wind field direction and the scanning direction of laser printing. The grid part in the form of a plane coordinate system represents the laser printing working area of ​​the multi-laser 3D printing device, which can also be called the printing format.

[0129] Figure 6 The black arrow in the middle indicates the direction of the wind field. By adjusting the printing order of the plurality of scanning path lines, the execution order direction between the scanning line segments of the laser emitter performing 3D laser printing is opposite to the wind field direction of the multi-laser 3D printing device. When performing 3D laser printing, the printing order of the plurality of scanning path segments is to first print the scanning path segments away from the wind field outlet, and then gradually jump to print the scanning path segments close to the outlet.

[0130] By adjusting the printing order, it is ensured that the multiple laser generators simultaneously start to perform 3D laser printing from the leftmost and bottommost point of the corresponding line segment group, and scan and print in a scanning direction from bottom to top. At the same time, the working points of the two laser generators will not be in the same scanning path line segment.

[0131] This control method can realize upwind scanning, reflecting the wind field avoidance characteristics, avoiding the influence of dust and particles under the influence of the wind field during 3D laser printing on the structure of the target parts, and ensuring the structural quality of the target parts.

[0132] In the multi-laser 3D printing control method, firstly, the part digital model of one or more target parts is sliced, the part digital model is divided into multiple slice layers, and the two-dimensional contour graphics of one or more target parts in the layer are determined in the slice layer. Further, the two-dimensional contour graphics corresponding to one or more target parts in the slice layer are scanned and divided to determine all the scanning path segments in the slice layer. The scanning path segments are used as the minimum unit to measure the calculation workload, so as to determine the layer workload of the entire slice layer. Then, based on the idea of ​​​​evenly dividing the layer workload, multiple line segment groups with matching corresponding and equal workloads are determined for multiple laser generators, and the same idea is used to traverse multiple slice layers, and the line segment groups corresponding to multiple laser generators are determined in multiple slice layers. In this way, it can be ensured that in each slice layer, the printing workload of multiple laser generators is equal, and the time required to perform 3D laser printing work is the same, that is, in each slice layer, multiple laser generators can complete the printing work at the same time. This method can effectively avoid the situation where some laser generators that have completed their work ahead of time waste time waiting for other laser generators, thereby optimizing the efficiency of multi-laser 3D printing to the greatest extent.

[0133] like Figure 7 As shown, in a multi-laser 3D printing control method provided by one or more optional embodiments of this specification, after dividing the two-dimensional contour graphic into a plurality of scanning path segments, it also includes:

[0134] S401: Determine the starting point coordinates and the end point coordinates of the scanning path segment, calculate and determine the segment length of the scanning path segment according to the starting point coordinates and the end point coordinates, and calculate and determine the scanning working time corresponding to the scanning path segment according to the segment length.

[0135] S402: Construct a vector data structure struct as zero-order vector data corresponding to the scanning path segment according to the starting point coordinates, the end point coordinates, the scanning working time and the corresponding layer height data, and the part name of the digital model of the corresponding part.

[0136] The vector data structure can be recorded and represented as:

[0137] struct xianduan{

[0138] x1

[0139] y1

[0140] x2

[0141] y2

[0142] …

[0143] }

[0144] Among them, x1 and y1 represent the horizontal and vertical coordinate data of the starting point coordinates of the scanning path segment, respectively, and x2 and y2 represent the horizontal and vertical coordinate data of the end point coordinates of the scanning path segment, respectively. The structure "xianduan" also records the scanning working time, layer height data and part name corresponding to the scanning path segment.

[0145] The vector data structure corresponding to the scanning path segment is used as the zero-order vector data, which can be represented as vector1. The zero-order vector data vercor1 records the layer height data, start and end point coordinate data, working time (ie, line workload data) and corresponding part ID data corresponding to the scanning path segment.

[0146] S403: Integrate the plurality of zero-order vector data corresponding to the plurality of scanning path segments having the same part name in the slice layer as first-order vector data.

[0147] For the same target part, vector1 corresponding to multiple scanning path segments in one slice layer are integrated to generate the first-order vector data, which can be expressed as vector2. The concept of vector2 corresponds to the slice layer.

[0148] S404: Integrate the plurality of first-order vector data having the same part name as second-order vector data.

[0149] For the same target part, the first-order vector data vector2 in all slice layers are integrated to generate the second-order vector data, which can be expressed as vector3. The concept of Vector3 corresponds to the target part.

[0150] Through such a statistical recording method, all information of one or more target parts can be fully recorded. One or more target parts can be represented by one or more vector3s, the data of a target part in multiple slice layers can be represented by multiple vector2s, and the data of a target part in a slice layer can be represented by vector1.

[0151] In some optional embodiments, the layer workload corresponding to the slice layer is determined according to the plurality of scanning path segments in the slice layer, and the following method steps may be adopted:

[0152] For the slice layer, at least one first-order vector data corresponding to the layer height data of the slice layer is determined. From the at least one first-order vector data, multiple scanning working times in multiple zero-order vector data are extracted and summed, and the sum result is used as the layer workload of the slice layer.

[0153] It should be emphasized that in the embodiments of this specification, after the part digital model corresponding to the target part is set in the working space of the multi-laser 3D printing device, its position can be flexibly adjusted according to actual needs, so that multiple target parts can be set in the working space at the same time.

[0154] like Figure 8 As shown, a multi-laser 3D printing control method provided by one or more optional embodiments of the present specification, before determining the layer workload corresponding to the slice layer according to the plurality of scanning path segments in the slice layer, further includes:

[0155] S501: Perform displacement adjustment on the digital model of the part and determine a corresponding displacement adjustment vector.

[0156] During the actual execution of the solution, the position of the digital model of the part in the printing workspace can be adjusted by displacement according to the real-time scene requirements, and the displacement adjustment vector can be determined accordingly.

[0157] S502: Update the starting point coordinates and the ending point coordinates of the scanning path segment in the zero-order vector data according to the displacement adjustment vector.

[0158] The data of the above vector3, vector2 and vector1 may be updated based on the displacement adjustment vector. Specifically, the starting point coordinates and the end point coordinates of the scanning path line segment are updated by two-dimensional translation.

[0159] When calculating and determining the layer workload, the updated vector3, vector2, and vector1 data can be used to calculate and determine the corresponding layer workloads of multiple slice layers according to the same working principle as above. The displacement adjustment of the part digital model in the workspace will not affect the implementation of the overall solution.

[0160] like Fig. 9 As shown, in a multi-laser 3D printing control method provided in one or more optional embodiments of the present specification, for a plurality of the laser generators, a plurality of the scanning path line segments are sequentially selected in the slice layer to form a plurality of the line segment groups corresponding to the plurality of the laser generators, including:

[0161] S601: according to the arrangement order of the plurality of laser generators, the sum of the line workloads of the plurality of scanning path line segments that are arranged at the front is calculated in sequence.

[0162] S602: Select and determine a plurality of boundary line segments from the plurality of scanning path line segments according to the sum of the line workloads and the workload mean.

[0163] S603: Divide the plurality of scanning path line segments in the slice layer into a plurality of line segment groups based on the plurality of boundary line segments.

[0164] The jth boundary line segment satisfies the following limiting conditions:

[0165]

[0166]

[0167] Among them, l j represents the jth boundary line segment;

[0168] represents the sum of the line workloads of the plurality of scanning path line segments from the first scanning path line segment to the boundary line segment, but excluding the boundary line segment, in the working order of the laser generator performing 3D laser printing;

[0169] represents the sum of the line workloads of the plurality of scanning path line segments from the first scanning path line segment to the boundary line segment and including the boundary line segment in the working order of the laser generator performing 3D laser printing;

[0170] Represents the mean of the workload:

[0171]

[0172] Among them, W all represents the layer workload of the slice layer, m represents the number of the laser generators, and j∈[1, m-1].

[0173] refer to Fig.10 As shown in the figure, part of the scanning path segments in a slice layer are shown. When the line segments are actually grouped to determine multiple line segment groups, the sum of the line workloads of the multiple scanning path segments is discretely distributed. It is difficult to ensure that the workload of each line segment group is strictly equal to the workload mean. Therefore, some optional implementations adopt the above-mentioned grouping method, that is, by comparing with the workload mean, multiple boundary line segments that meet the corresponding conditions are determined in the slice layer.

[0174] by Fig.10 For example, the boundary line segment can be determined in the following manner:

[0175] The sum of the workload of the preceding plurality of scanning path segments is determined by counting along the arrangement order of the plurality of laser generators. Fig.10 The two rectangular boxes in the middle represent the 9th and 10th scanning path segments respectively.

[0176] The 9th and 10th scanning path segments are counted and meet the following conditions:

[0177]

[0178] That is, the workload of the first 9 line segments is less than The workload of the first 10 segments is greater than

[0179] Then the boundary line segment of the 10th scanning path line segment can be determined. Based on the boundary line segment, the first 10 scanning path line segments can be grouped together into the first group of line segments and matched to the first laser generator.

[0180] Continue counting, for example, counting the 21st and 22nd scan path segments, and satisfying:

[0181]

[0182] The 22nd scanning path line segment may be determined as the boundary line segment. The 11th to 22nd scanning path line segments may be determined as the second group of line segments, matched to the second laser generator.

[0183] In the same way, m-1 boundary line segments can be determined, and the multiple scanning path lines in the slice layer can be divided into m line groups, which are correspondingly allocated to m laser generators. And it can be ensured that the sum of the line workload of the multiple scanning path line segments in each line group is basically equal to the workload mean value. The error between the sum of the workload of each line segment group and the workload mean is smaller than the workload of the line corresponding to the boundary line segment, and this error is much smaller than the workload mean. In this way, it can be ensured that when multiple laser generators perform 3D laser printing, their respective printing tasks are completed at substantially the same time.

[0184] A multi-laser 3D printing control method provided in one or more optional embodiments of the present specification, after determining the scanning working time corresponding to the scanning path line segment and taking the scanning working time as the line workload, further includes:

[0185] In the slice layer, a plurality of adjacent scanning path line segments are merged in sequence as a scanning path set, and the sum of the line workloads of the plurality of scanning path line segments in the scanning path set is taken as the set workload of the scanning path set.

[0186] like Fig.11 As shown, in a multi-laser 3D printing control method provided in one or more optional embodiments of the present specification, for a plurality of the laser generators, a plurality of the scanning path line segments are sequentially selected in the slice layer to form a plurality of the line segment groups corresponding to the plurality of the laser generators, including:

[0187] S701: according to the arrangement order of the plurality of laser generators, the sum of the set workloads of the plurality of scanning path sets that are arranged at the top is calculated in sequence.

[0188] S702: According to the sum of the set workloads and the workload mean, select and determine a plurality of boundary sets from the plurality of scanning path sets.

[0189] S703: Divide the plurality of scanning path line segments in the slice layer into a plurality of line segment groups based on the plurality of boundary sets.

[0190] The i-th boundary set satisfies the following limiting conditions:

[0191]

[0192]

[0193] Among them, G I represents the i-th boundary set;

[0194] represents the sum of the set workloads of the plurality of scanning path sets from the first scanning path set to the boundary set, but excluding the boundary set, in the working order of the laser generator performing 3D laser printing;

[0195] represents the sum of the set workloads of the plurality of scanning path sets including the boundary set from the first scanning path set to the boundary set in the working order of the laser generator performing 3D laser printing;

[0196] Represents the mean of the workload:

[0197]

[0198] Among them, W all represents the layer workload of the slice layer, m represents the number of the laser generators, i∈[1,m-1].

[0199] It should be noted that the number of the scan path segments divided and determined in the slice layer may be thousands or even tens of thousands. When dividing the multiple scan path segments to determine the segment group, it is necessary to calculate the sum of the line workload of the first multiple scan path segments one by one. The amount of calculation is large, which may affect the execution efficiency of the overall solution. Therefore, the above-mentioned collection method can be used to construct multiple adjacent scan path segments into a set. For example, 10 adjacent scan path segments can be made into a whole set, and the set is used as the basic unit to measure the workload and compare it with the workload mean. In this way, the amount of computational workload that needs to be performed can be greatly reduced, and the execution efficiency of the overall solution is optimized.

[0200] By comparing with the workload mean, a plurality of boundary sets satisfying corresponding conditions are determined in the slice layer.

[0201] The boundary set can be determined in the following manner:

[0202] Along the arrangement order of the plurality of laser generators, the sum of the workloads of the preceding plurality of scanning path sets is statistically determined.

[0203] Assume that the fifth and sixth scan path sets are counted and meet the following conditions:

[0204]

[0205] That is, the workload of the first 5 scan path sets is less than The workload of the first 6 scan path sets is greater than

[0206] Then the boundary set of the sixth scanning path set can be determined.

[0207] In this way, m-1 boundary sets can be determined, and the multiple scanning path lines in the slice layer can be divided into m line groups, which are correspondingly allocated to m laser generators. And it can be ensured that the sum of the line workload of the multiple scanning path segments in each line group is basically equal to the workload mean. The error between the sum of the workload of each line segment group and the workload mean is smaller than the workload of the corresponding boundary line set. It should be noted that the number of scanning path line segments in the scanning path set can be flexibly adjusted according to actual conditions. When the number of scanning path line segments in the slice layer reaches thousands or even tens of thousands, the workload of the boundary line set is also much smaller than the workload mean.

[0208] Therefore, this method can greatly optimize the overall execution efficiency of the solution while still ensuring that the multiple lasers complete their respective printing tasks at basically the same time.

[0209] In a multi-laser 3D printing device, the multiple laser generators are often set to each be responsible for a part of the overall workspace, and the laser generators generally cannot take care of the entire workspace. The printing workspace of the multi-laser 3D printing device is divided into multiple printing partitions corresponding to the multiple laser generators; there is an overlapping area between two adjacent printing partitions, and the part outside the overlapping area in the printing partition is an independent partition.

[0210] In some special cases, the line segment group corresponding to the laser may exceed the scanning area it is responsible for. In this case, the dividing line needs to be adjusted.

[0211] like Fig.12 As shown, a multi-laser 3D printing control method provided by one or more optional embodiments of this specification, after dividing the plurality of scanning path segments in the slice layer into a plurality of segment groups corresponding to the plurality of laser generators, further includes:

[0212] S801: Compare the distribution positions of the plurality of scanning path line segments in the line segment group corresponding to the laser generator with the printing area corresponding to the laser generator to determine whether some of the scanning path line segments in the line segment group are outside the printing area.

[0213] S802: In response to part of the scanning path line segments of the line segment group being outside the printing area, counting the scanning workload of the independent partitions and the overlapping areas corresponding to the laser generator and the adjacent laser generators.

[0214] S803: According to the scanning workloads corresponding to the independent partitions and the overlapping areas, the plurality of scanning path line segments corresponding to the plurality of line segment groups are adjusted so that the difference in the workloads of the plurality of line segment groups after adjustment takes a minimum value.

[0215] The following is an explanation of the above-mentioned solution for adjusting and setting the dividing line with examples. Fig.13 As shown in the figure, three laser generators are used as an example. The white area in the figure is an independent partition, and the gray area is the overlapping area of ​​two adjacent laser generators. Assuming that the dividing line determined by the principle of workload equalization is outside the overlapping area, the dividing line position needs to be readjusted according to the workload distribution of multiple areas.

[0216] refer to Fig.13As shown in the figure, the corresponding labels of the laser generators 1, 2, and 3 for the independent partitions are 1, 2, and 3 respectively, and the workloads in the opposing partitions are denoted as jg1, jg2, and jg3 respectively. The overlapping area of the laser generators 1 and 2 corresponds to the label <1, 2>, and the workload in the overlapping area is denoted as jg4. The overlapping area of the laser generators 2 and 3 corresponds to the label <2, 3>, and the workload in the overlapping area is denoted as jg5. The overall layer workload of the corresponding slice layer is denoted as jgall.

[0217] The workload assigned to the laser generator 1 in the overlapping area <1, 2> of the laser generators 1 and 2 is called jg4for1. The workload assigned to the laser generator 2 in the overlapping area <2, 3> of the laser generators 2 and 3 is called jg5for2.

[0218] The workload in the overlapping area can be adjusted and allocated according to the following logic:

[0219] Case (1): When jgall / 3 < jg1 + jg4 and jgall / 3 < jg3 + jg5

[0220] jg4for1 = min(max(jgall / 3 - jg1, 0), jg4);

[0221] jg5for2 = min(jg5 - jgall / 3 + jg3, jg5).

[0222] From left to right, the sum of the workloads in the first independent partition and the first overlapping area is greater than one-third of the layer workload, and the sum of the workloads in the third independent partition and the second overlapping area is greater than one-third of the layer workload, indicating that the printing workload in the slice layer is mainly distributed on both sides, while the workload in the middle second independent partition accounts for a relatively small proportion.

[0223] At this time, part of the workload in the overlapping area should be allocated to the middle second laser generator to make the workloads of the three laser generators as equal as possible.

[0224] Case (2): When jgall / 3 < jg1 + jg4 and jgall / 3 >= jg3 + jg5

[0225] jg4for1 = min((jg2 - jg1 + jg4) / 2, jg4);

[0226] jg5for2 = 0.0.

[0227] From left to right, the sum of the workloads in the first independent partition and the first overlapping area is greater than one-third of the layer workload, while the sum of the workloads in the third independent partition and the second overlapping area is less than or equal to one-third of the layer workload, indicating that the printing workload in the slice layer is mainly distributed to the left side, while the workload in the third independent partition on the right accounts for a smaller proportion.

[0228] At this time, the workload in the second overlapping area needs to be divided to the third laser generator on the right, and the workload in the first overlapping area needs to be divided partially to the second laser generator in the middle, so as to make the workload of the three laser generators as equal as possible.

[0229] Case (3): When jgall / 3>=jg1+jg4 and jgall / 3 <jg3+jg5

[0230] jg4for1=jg4;

[0231] jg5for2=min((jg5+jg3-jg2) / 2,jg5).

[0232] Based on the same analysis idea, in this case, the workload is more concentrated on the right side of the slice layer, and the left side accounts for a smaller proportion. The workload in the first overlapping area can be divided into the first laser generator, and the workload in the second overlapping area can be divided into the third laser generator, so as to make the workload of the three laser generators as equal as possible.

[0233] Case (4): When jgall / 3>=jg1+jg4 and jgall / 3>=jg3+jg5

[0234] jg4for1=jg4;

[0235] jg5for2=0.

[0236] Based on the same analysis idea, in this case, the workload is more concentrated in the middle of the slice layer, and the two sides account for a smaller proportion. The workload in the first overlapping area can be divided into the first laser generator, and the workload in the second overlapping area can be divided into the third laser generator, so as to make the workload of the three laser generators as equal as possible.

[0237] It should be noted that the above code statements can be directly executed by the C++ compiler.

[0238] According to the above allocation logic, the scanning path segments belonging to jg4 and jg5 are sorted from left to right, and the corresponding line workload is accumulated from left to right and allocated to jg1 and jg2 until they reach jg4for1 and jg5for2 respectively. At this point, each line segment has a corresponding laser, and the workload is evenly distributed.

[0239] In this way, even if there are working area restrictions for multiple laser generators in a multi-laser 3D printing device, the workload of multiple laser generators can be evenly distributed to the maximum extent, the waiting time of the laser generator in each slicing layer can be shortened as much as possible, and the work efficiency of multi-laser 3D printing can be optimized.

[0240] It should be noted that the method of one or more embodiments of this specification can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of one or more embodiments of this specification, and the multiple devices will interact with each other to complete the described method.

[0241] It should be noted that the above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0242] Based on the same purpose, corresponding to any of the above-mentioned embodiments and methods, the embodiments of this specification also provide a multi-laser 3D printing control system, wherein the system is applied to a multi-laser 3D printing device, wherein a plurality of laser generators are arranged in the device.

[0243] refer to Fig.14 , the multi-laser 3D printing control system comprises:

[0244] A digital model data acquisition module, used to acquire at least one part digital model corresponding to at least one target part to be printed;

[0245] A digital model slicing module, used to slice at least one of the digital models of the part, and determine at least one two-dimensional contour graphic corresponding to at least one of the digital models of the part in multiple slice layers;

[0246] A scanning and dividing module, used for scanning and dividing at least one of the two-dimensional contour graphics in the slice layer, and dividing the two-dimensional contour graphics into a plurality of scanning path segments;

[0247] A line segment group division module, used for dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators, wherein the workloads corresponding to the plurality of line segment groups are equal;

[0248] a slice layer traversal module, used to traverse the plurality of slice layers to determine a plurality of line segment groups corresponding to each of the laser generators in the plurality of slice layers; and

[0249] The multi-laser printing control module is used to control the multiple laser generators to perform 3D laser printing according to the corresponding multiple line segment groups.

[0250] In a multi-laser 3D printing control system provided in one or more optional embodiments of the present specification, the digital model slicing module is further used to set a corresponding slice thickness parameter for at least one of the target parts; slice and divide the corresponding at least one part digital model according to the corresponding slice thickness parameter of at least one of the target parts, so that each of the part digital models generates multiple part slices; and determine multiple slice layers in the 3D laser printing workspace for the multiple part slices.

[0251] In a multi-laser 3D printing control system provided in one or more optional embodiments of the present specification, the digital model slicing module is further used to calculate and determine the layer height data corresponding to the multiple slice layers corresponding to the part digital model based on the slice thickness parameter, and use the multiple layer height data to construct a part layer height set. The slice layer traversal module is also used to traverse the slice layers corresponding to the multiple layer height data recorded in the part layer height set when there is only one slice thickness parameter; merge the multiple part layer height sets corresponding to the multiple target parts to generate a total layer height set when there are multiple different slice thickness parameters; and traverse the slice layers corresponding to the multiple layer height data in the total layer height set.

[0252] In a multi-laser 3D printing control system provided by one or more optional embodiments of the present specification, the scanning division module is also used to determine the printing scanning line spacing parameters and the printing scanning direction of the laser generator performing 3D laser printing; based on the printing scanning line spacing parameters and the printing scanning direction, the two-dimensional contour graphic is scanned and divided to generate a plurality of the scanning path line segments; wherein the segment spacing of the plurality of the scanning path line segments is determined according to the printing scanning line spacing parameters, and the plurality of the scanning path line segments are parallel to the printing scanning direction.

[0253] In a multi-laser 3D printing control system provided by one or more optional embodiments of the present specification, the line segment group division module is further used to determine the layer workload corresponding to the slice layer according to the multiple scanning path line segments in the slice layer; calculate and determine the workload mean corresponding to the multiple laser generators in the slice layer according to the layer workload and the number of laser generators; for the multiple laser generators, select the multiple scanning path line segments in the slice layer in turn to form the multiple line segment groups corresponding to the multiple laser generators, and the sum of the workloads of the multiple scanning path line segments in the line segment group is the workload mean.

[0254] In a multi-laser 3D printing control system provided in one or more optional embodiments of the present specification, the line segment group division module is also used to determine the printing scanning speed of the laser generator performing 3D laser printing; determine the scanning working time corresponding to the scanning path segment according to the segment length of the scanning path segment and the printing scanning speed, and use the scanning working time as the line workload; sum the line workloads corresponding to multiple scanning path segments in the slice layer to determine the layer workload.

[0255] In a multi-laser 3D printing control system provided in one or more optional embodiments of the present specification, the line segment group division module is also used to obtain a list of working parameters of the laser generator, and to determine the jump time and communication delay time of the laser generator performing 3D laser printing from the list of working parameters by a table lookup method; to determine the light emitting scanning time corresponding to the scanning path line segment according to the line segment length and the printing scanning speed; and to sum the jump time, the communication delay time and the light emitting scanning time to determine the scanning working time corresponding to the scanning path line segment.

[0256] A multi-laser 3D printing control system provided in one or more optional embodiments of the present specification also includes a vector data recording module. The vector data recording module is used to determine the starting point coordinates and the end point coordinates of the scanning path segment after dividing the two-dimensional contour graphic into multiple scanning path segments, calculate and determine the segment length of the scanning path segment according to the starting point coordinates and the end point coordinates, and calculate and determine the scanning working time corresponding to the scanning path segment according to the segment length; construct a vector data structure according to the starting point coordinates, the end point coordinates, the scanning working time and the corresponding layer height data and the part name of the digital model of the corresponding part of the scanning path segment as the zero-order vector data corresponding to the scanning path segment; integrate the multiple zero-order vector data corresponding to the multiple scanning path segments with the same part name in the slice layer as the first-order vector data; integrate the multiple first-order vector data with the same part name as the second-order vector data.

[0257] In a multi-laser 3D printing control system provided by one or more optional embodiments of the present specification, the line segment group division module is also used to determine at least one of the first-order vector data corresponding to the layer height data of the slicing layer; statistically extract multiple scanning working times from multiple zero-order vector data from at least one of the first-order vector data, sum them up, and use the sum result as the layer workload of the slicing layer.

[0258] In a multi-laser 3D printing control system provided by one or more optional embodiments of the present specification, the line segment group division module is also used to calculate the sum of the line workloads of the top-ranked plurality of scanning path line segments in sequence according to the arrangement order of the plurality of laser generators; select and determine a plurality of boundary line segments from the plurality of scanning path line segments according to the sum of the line workloads and the workload mean; and divide the plurality of scanning path line segments in the slice layer into a plurality of line segment groups based on the plurality of boundary line segments.

[0259] The jth boundary line segment satisfies the following limiting conditions:

[0260]

[0261]

[0262] Among them, l j represents the jth boundary line segment;

[0263] represents the sum of the line workloads of the plurality of scanning path line segments from the first scanning path line segment to the boundary line segment, but excluding the boundary line segment, in the working order of the laser generator performing 3D laser printing;

[0264] represents the sum of the line workloads of the plurality of scanning path line segments from the first scanning path line segment to the boundary line segment and including the boundary line segment in the working order of the laser generator performing 3D laser printing;

[0265] Represents the mean of the workload:

[0266]

[0267] Among them, W all represents the layer workload of the slice layer, m represents the number of the laser generators, and j∈[1, m-1].

[0268] A multi-laser 3D printing control system provided by one or more optional embodiments of the present specification also includes a line segment set module. The line segment set module is used to sequentially merge multiple adjacent scanning path line segments as a scanning path set in the slicing layer, and use the sum of the line workloads of the multiple scanning path line segments in the scanning path set as the set workload of the scanning path set. The line segment group division module is also used to sequentially calculate the sum of the set workloads of the multiple scanning path sets ranked first according to the arrangement order of the multiple laser generators; select and determine multiple boundary sets from the multiple scanning path sets according to the sum of the set workloads and the workload mean; and divide the multiple scanning path line segments in the slicing layer into multiple line segment groups based on the multiple boundary sets.

[0269] The i-th boundary set satisfies the following limiting conditions:

[0270]

[0271]

[0272] Among them, G I represents the i-th boundary set;

[0273] represents the sum of the set workloads of the plurality of scanning path sets from the first scanning path set to the boundary set, but excluding the boundary set, in the working order of the laser generator performing 3D laser printing;

[0274] represents the sum of the set workloads of the plurality of scanning path sets including the boundary set from the first scanning path set to the boundary set in the working order of the laser generator performing 3D laser printing;

[0275] Represents the mean of the workload:

[0276]

[0277] Among them, W all represents the layer workload of the slice layer, m represents the number of the laser generators, i∈[1,m-1].

[0278] In a multi-laser 3D printing control system provided in one or more optional embodiments of the present specification, the printing workspace of the multi-laser 3D printing device is divided into a plurality of printing partitions corresponding to the plurality of laser generators; there is an overlapping area between two adjacent printing partitions, and the part outside the overlapping area in the printing partition is an independent partition. The multi-laser 3D printing control system also includes a grouping adjustment module, which is used to compare the distribution positions of the plurality of scanning path segments in the line segment group corresponding to the laser generator with the printing area corresponding to the laser generator to determine whether there are some scanning path segments in the line segment group outside the printing area; when some scanning path segments in the line segment group are outside the printing area, the scanning workload of the independent partition and the overlapping area corresponding to the laser generator and the adjacent laser generator is counted; according to the scanning workload corresponding to the independent partition and the overlapping area, the plurality of scanning path segments corresponding to the plurality of line segment groups are assigned and adjusted so that the difference in the workload of the plurality of line segment groups after adjustment is minimized.

[0279] One or more optional embodiments of the present specification provide a multi-laser 3D printing control system, further comprising a headwind field control module. The headwind field control module is used to adjust the printing order of the plurality of scanning path lines so that the execution order direction between the scanning line segments of the 3D laser printing performed by the laser emitter is opposite to the wind field direction of the multi-laser 3D printing device.

[0280] One or more optional embodiments of the present specification provide a multi-laser 3D printing control system, further comprising a displacement adjustment module. The displacement adjustment module is used to perform displacement adjustment on the part digital model and determine a corresponding displacement adjustment vector before determining the layer workload corresponding to the slice layer according to the plurality of scan path segments in the slice layer; and to update the start point coordinates and the end point coordinates of the scan path segment in the zero-order vector data according to the displacement adjustment vector.

[0281] For the convenience of description, the above devices are described in terms of functions divided into various modules. Of course, when implementing one or more embodiments of this specification, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0282] The apparatus of the above-mentioned embodiment is used to implement the corresponding method in the above-mentioned embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0283] Fig.15 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0284] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0285] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0286] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0287] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0288] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0289] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0290] The electronic device of the above embodiment is used to implement the corresponding method in the above embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0291] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the multi-laser 3D printing control method described in any of the above embodiments.

[0292] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0293] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the multi-laser 3D printing control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0294] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0295] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0296] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0297] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0298] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0299] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0300] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0301] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. In line with the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present specification as described above, which are not provided in detail for the sake of simplicity.

[0302] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0303] One or more embodiments of this specification are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of this disclosure.

Claims

1. A multi-laser 3D printing control method, characterized in that: The method is applied to a multi-laser 3D printing device, wherein a plurality of laser generators are provided in the device, and the method comprises: Acquire at least one part digital model corresponding to at least one target part to be printed; Slicing at least one of the digital models of the part to determine at least one two-dimensional contour graphic corresponding to the digital model of the part in a plurality of slice layers; In the slice layer, scanning and dividing at least one of the two-dimensional contour graphics, dividing the two-dimensional contour graphics into a plurality of scanning path segments; Dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators, wherein the workloads corresponding to the plurality of line segment groups are equal; Traversing the plurality of slice layers, and determining a plurality of line segment groups corresponding to each of the laser generators in the plurality of slice layers; The plurality of laser generators are controlled to perform 3D laser printing according to the corresponding plurality of line segment groups.

2. The method according to claim 1, characterized in that Slicing at least one of the digital models of the parts, comprising: Setting a corresponding slice thickness parameter for at least one of the target parts; Slicing and dividing the corresponding at least one of the part digital models according to the slice thickness parameter corresponding to at least one of the target parts, so that a plurality of part slices are generated corresponding to each of the part digital models; A plurality of slice layers are determined in a workspace of 3D laser printing for the plurality of part slices.

3. The method according to claim 2, characterized in that After slicing and dividing the digital model of the part, the method further includes: Determine layer height data corresponding to a plurality of the slice layers corresponding to the part digital model based on the slice thickness parameter calculation, and construct a part layer height set using the plurality of the layer height data; Traversing the plurality of slice layers, including: In response to the existence of only one slice thickness parameter, traversing the slice layers corresponding to the plurality of layer height data recorded in the part layer height set; In response to the existence of a plurality of different slice thickness parameters, merging a plurality of part layer height sets corresponding to a plurality of the target parts to generate a total layer height set; The slice layers corresponding to the plurality of layer height data in the total layer height set are traversed.

4. The method according to claim 1, characterized in that: Scanning and dividing at least one of the two-dimensional contour graphics to divide the two-dimensional contour graphics into a plurality of scanning path segments, including: Determining the printing scanning line spacing parameters and the printing scanning direction of the laser generator performing 3D laser printing; Scan and divide the two-dimensional contour graphic based on the print scan line spacing parameter and the print scan direction to generate a plurality of scan path line segments; The line segment spacing of the plurality of scanning path line segments is determined according to the printing scanning line spacing parameter, and the plurality of scanning path line segments are parallel to the printing scanning direction.

5. The method according to claim 1, characterized in that Dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators comprises: Determining a layer workload corresponding to the slice layer according to a plurality of the scanning path segments in the slice layer; Calculate and determine the workload mean corresponding to each laser generator in the slice layer according to the layer workload and the number of laser generators; For the multiple laser generators, multiple scanning path segments are selected in sequence in the slice layer to form multiple segment groups corresponding to the multiple laser generators, and the sum of the workloads of the multiple scanning path segments in the segment group is the workload mean.

6. The method according to claim 5, characterized in that Determining the layer workload corresponding to the slice layer according to the plurality of scanning path segments in the slice layer includes: Determining a printing scanning speed of the laser generator performing 3D laser printing; Determine the scanning working time corresponding to the scanning path line segment according to the line segment length of the scanning path line segment and the printing scanning speed, and use the scanning working time as the line workload; The layer workload is determined by summing the line workloads corresponding to a plurality of the scan path line segments in the slice layer.

7. The method according to claim 6, characterized in that Determining the scanning working time corresponding to the scanning path line segment according to the line segment length of the scanning path line segment and the printing scanning speed includes: Obtaining a list of working parameters of the laser generator, and determining a jump time and a communication delay time for the laser generator to perform 3D laser printing from the list of working parameters by using a table lookup method; Calculate and determine the light emission scanning time corresponding to the scanning path line segment according to the line segment length and the printing scanning speed; The jump time, the communication delay time and the light emission scanning time are summed to determine the scanning working time corresponding to the scanning path segment.

8. The method according to claim 3, characterized in that After dividing the two-dimensional contour graphic into a plurality of scanning path segments, the method further comprises: Determine the starting point coordinates and the end point coordinates of the scanning path segment, calculate and determine the segment length of the scanning path segment according to the starting point coordinates and the end point coordinates, and calculate and determine the scanning working time corresponding to the scanning path segment according to the segment length; Construct a vector data structure according to the starting point coordinates, the end point coordinates, the scanning working time, the corresponding layer height data, and the part name of the corresponding part digital model of the scanning path segment as zero-order vector data corresponding to the scanning path segment; Integrate the plurality of zero-order vector data corresponding to the plurality of scanning path segments having the same part name in the slice layer as first-order vector data; The plurality of first-order vector data having the same part name are integrated as second-order vector data.

9. The method according to claim 8, characterized in that Determining the layer workload corresponding to the slice layer according to the plurality of scanning path segments in the slice layer includes: Determine at least one first-order vector data corresponding to the layer height data of the slice layer; Counting the scanning working time of a plurality of the zero-order vector data in at least one of the first-order vector data corresponding to the slice layer; A plurality of the scanning working times are summed up, and the summed up result is used as the layer workload of the slice layer.

10. The method according to claim 5, characterized in that For the plurality of laser generators, a plurality of scanning path line segments are sequentially selected in the slice layer to form a plurality of line segment groups corresponding to the plurality of laser generators, including: According to the arrangement order of the plurality of laser generators, the sum of the line workloads of the plurality of scanning path line segments arranged in front is calculated in sequence; According to the sum of the line workload and the workload mean, selecting and determining a plurality of boundary line segments from the plurality of scanning path line segments; Dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups based on the plurality of boundary line segments; The jth boundary line segment satisfies the following limiting conditions: Among them, l j represents the jth said boundary line segment; represents the sum of the line workloads of the plurality of scanning path line segments from the first scanning path line segment to the boundary line segment, but excluding the boundary line segment, in the working order of the laser generator performing 3D laser printing; represents the sum of the line workloads of the plurality of scanning path line segments from the first scanning path line segment to the boundary line segment and including the boundary line segment in the working order of the laser generator performing 3D laser printing; Represents the mean of the workload: Among them, W all represents the layer workload of the slice layer, m represents the number of the laser generators, and j∈[1, m-1].

11. The method according to claim 5, characterized in that After determining the scanning working time corresponding to the scanning path line segment and taking the scanning working time as the line workload, the method further includes: In the slice layer, a plurality of adjacent scanning path line segments are sequentially merged into a scanning path set, and a sum of the line workloads of the plurality of scanning path line segments in the scanning path set is used as a set workload of the scanning path set; For the plurality of laser generators, a plurality of scanning path line segments are sequentially selected in the slice layer to form a plurality of line segment groups corresponding to the plurality of laser generators, including: According to the arrangement order of the plurality of laser generators, the sum of the set workloads of the plurality of scanning path sets arranged in front is calculated in sequence; According to the sum of the set workloads and the workload mean, selecting and determining a plurality of boundary sets from a plurality of the scanning path sets; Dividing the plurality of scan path line segments in the slice layer into a plurality of line segment groups based on a plurality of the boundary sets; The i-th boundary set satisfies the following limiting conditions: Among them, G I represents the i-th boundary set; represents the sum of the set workloads of the plurality of scanning path sets from the first scanning path set to the boundary set, but excluding the boundary set, in the working order of the laser generator performing 3D laser printing; represents the sum of the set workloads of the plurality of scanning path sets including the boundary set from the first scanning path set to the boundary set in the working order of the laser generator performing 3D laser printing; Represents the mean of the workload: Among them, W all represents the layer workload of the slice layer, m represents the number of the laser generators, i∈[1,m-1].

12. The method according to claim 5, characterized in that The printing workspace of the multi-laser 3D printing device is divided into a plurality of printing partitions corresponding to the plurality of laser generators; There is an overlapping area between two adjacent printing partitions, and the portion outside the overlapping area in the printing partition is an independent partition; After dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators, the method further includes: Comparing the distribution positions of the plurality of scanning path line segments in the line segment group corresponding to the laser generator with the printing area corresponding to the laser generator to determine whether some of the scanning path line segments in the line segment group are outside the printing area; In response to part of the scanning path line segments of the line segment group being outside the printing area, counting the scanning workload of the independent partitions and the overlapping area corresponding to the laser generator and the adjacent laser generators; According to the scanning workload corresponding to the independent partition and the overlapping area, the plurality of scanning path line segments corresponding to the plurality of line segment groups are adjusted so that the difference in the workload of the plurality of line segment groups after adjustment takes a minimum value.

13. The method according to claim 1, characterized in that When controlling the plurality of laser generators to perform 3D laser printing according to the corresponding plurality of line segment groups, the printing order of the plurality of scanning path lines is adjusted so that the execution order direction between the scanning line segments for 3D laser printing performed by the laser emitters is opposite to the wind field direction of the multi-laser 3D printing device.

14. The method according to claim 8, characterized in that Before determining the layer workload corresponding to the slice layer according to the plurality of scanning path segments in the slice layer, the method further includes: Performing displacement adjustment on the digital model of the part and determining a corresponding displacement adjustment vector; The starting point coordinates and the ending point coordinates of the scanning path segment in the zero-order vector data are updated according to the displacement adjustment vector.

15. A multi-laser 3D printing control system, characterized in that: The system is applied to a multi-laser 3D printing device, wherein a plurality of laser generators are arranged in the device; the system comprises: A digital model data acquisition module, used to acquire at least one part digital model corresponding to at least one target part to be printed; A digital model slicing module, used to slice at least one of the digital models of the part, and determine at least one two-dimensional contour graphic corresponding to at least one of the digital models of the part in multiple slice layers; A scanning and dividing module, used for scanning and dividing at least one of the two-dimensional contour graphics in the slice layer, and dividing the two-dimensional contour graphics into a plurality of scanning path segments; A line segment group division module, used for dividing the plurality of scanning path line segments in the slice layer into a plurality of line segment groups corresponding to the plurality of laser generators, wherein the workloads corresponding to the plurality of line segment groups are equal; A slice layer traversal module, used to traverse the plurality of slice layers to determine a plurality of line segment groups corresponding to each of the laser generators in the plurality of slice layers; and The multi-laser printing control module is used to control the multiple laser generators to perform 3D laser printing according to the corresponding multiple line segment groups.

16. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 14 is implemented.

17. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 14.

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