Support structure processing method and device, 3D printing equipment and readable storage medium

Abstract

The invention provides a supporting structure processing method and device, 3D printing equipment and a readable storage medium, and relates to the field of 3D printing. The method comprises the following steps: constructing unit bodies based on unit body parameters; determining structure parameters of a plurality of supporting structures used for supporting a to-be-printed model, and constructing a deformation matrix corresponding to the supporting structures based on the structure parameters of the supporting structures; and the unit bodies are deformed according to the deformation matrixes corresponding to the supporting structures, and the multiple supporting structures are generated.

Description

Technical Field

[0001] The present application relates to the field of 3D printing, and particularly to a method and apparatus for processing a support structure, a 3D printing device, and a readable storage medium. Background Art

[0002] Currently, models printed by stereolithography need to be printed with support structures. The GPU needs to edit each support structure separately to achieve construction. If the support structure is complex, the editing work of the GPU will be very large, resulting in lag during the use of the software and bringing a high time cost to users. Summary of the Invention

[0003] In view of this, the present application provides a method and apparatus for processing a support structure, a 3D printing device, and a readable storage medium, which solve the problem of large editing work for support structures in the related art.

[0004] In a first aspect, an embodiment of the present application provides a method for processing a support structure, including:

[0005] Constructing a unit body based on unit body parameters;

[0006] Determining the structural parameters of a plurality of support structures for supporting a model to be printed, and constructing a deformation matrix corresponding to the support structure based on the structural parameters of the support structure;

[0007] Deforming the unit body according to the deformation matrix corresponding to each support structure respectively to generate a plurality of the support structures.

[0008] In a second aspect, an embodiment of the present application provides a 3D printing device, which includes a processor and a memory. The memory stores a program or instruction that can run on the processor. When the program or instruction is executed by the processor, the steps of the method in the first aspect are implemented.

[0009] In a third aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by the processor, the steps of the method in the first aspect are implemented.

[0010] In the embodiment of the present application, a unit body is pre-constructed, and then based on the structural parameters of different support structures, a deformation matrix corresponding to each support structure is constructed, and the pre-constructed unit body is deformed by using the deformation matrix, so as to automatically generate different support structures.

[0011] Compared with the solution of constructing by editing each support structure separately, the structural parameters of the support structure in this application are pre-stored information. Therefore, only the unit body needs to be input, and the deformation of the unit body can be automatically calculated according to the deformation matrix, and the support structure can be generated without editing each support structure separately, reducing the editing workload, improving the generation speed of the support structure, and improving the rendering or operation efficiency during subsequent rendering or its mesh operation.

[0012] The above description is only an overview of the technical solution of this application. In order to be able to understand the technical means of this application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the specific embodiments of this application are specifically given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings described herein are used to provide a further understanding of this application and form a part of this application. The schematic embodiments and descriptions of this application are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0014] Figure 1 A flowchart showing the support structure processing method according to an embodiment of this application;

[0015] Figure 2 A schematic diagram showing the upper top surface or the lower bottom surface of the unit body according to an embodiment of this application;

[0016] Figure 3 A schematic diagram showing the unit body according to an embodiment of this application;

[0017] Figure 4 A schematic diagram showing the disassembly of the overall support structure network according to an embodiment of this application;

[0018] Figure 5 A schematic diagram showing the structural parameters of the support structure according to an embodiment of this application;

[0019] Figure 6 A structural block diagram showing a 3D printing device according to an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, the technical solutions in the embodiments of this application will be clearly described in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of this application.

[0021] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0022] The support structure processing method, device, 3D printing equipment and readable storage medium provided in the embodiments of the present application are described in detail below in conjunction with the accompanying drawings through specific embodiments and their application scenarios. The following embodiments and features in the embodiments may be combined with each other unless there is a conflict.

[0023] The embodiment of the present application provides a support structure processing method, which pre-constructs a unit body, then constructs a deformation matrix corresponding to each support structure based on the structural parameters of different support structures, and uses the deformation matrix to deform the pre-constructed unit body, thereby automatically generating different support structures. Figure 1 As shown, the method includes:

[0024] S101, constructing a unit body based on the unit body parameters.

[0025] In this step, unit body parameters are obtained, and a unit body is constructed according to the unit body parameters. The unit body can be deformed according to certain deformation rules, thereby deforming into various supporting structures for supporting the model to be printed.

[0026] In one embodiment of the present application, constructing a unit cell based on the unit cell parameters includes:

[0027] Obtain unit body parameters, which include preset number of edges, unit radius and unit height;

[0028] Constructing the vertices of the upper top surface and the vertices of the lower bottom surface according to the preset number of edges, and stitching the vertices of the upper top surface and the vertices of the lower bottom surface accordingly to form a side mesh;

[0029] A grid column is formed by the upper top surface, the lower bottom surface and the side grids, and the grid column is unitized to obtain a unit body.

[0030] In this embodiment, unit cell parameters such as a preset number of sides, unit radius, and unit height are obtained. The unit cell parameters such as the preset number of sides, unit radius, and unit height can be set by the user. The vertices of the upper top surface and the lower bottom surface are constructed according to the preset number of sides. Taking 8 sides as an example, the constructed upper top surface or lower bottom surface is as shown in Figure 2 shown. Further, the vertices of the upper top surface and the corresponding vertices of the lower bottom surface are stitched to form a side mesh. For example, the vertices of the upper top surface include a1, a2, a3, a4, a5, a6, a7, a8, and the vertices of the lower bottom surface include b1, b2, b3, b4, b5, b6, b7, b8. Correspondingly, a1 and b1, a2 and b2, a3 and b3, a4 and b4, a5 and b5, a6 and b6, a7 and b7, a8 and b8 are stitched to form a side mesh. The upper top surface, the lower bottom surface, and the side mesh form a mesh cylinder. In some embodiments, the mesh cylinder may include a triangular prism, a quadrangular prism, a pentagonal prism, an octagonal prism, and other multi-sided prismatic bodies. The more the preset number of sides, the more the mesh cylinder approximates a cylinder. Then, the generated mesh cylinder is unitized to obtain a unit cell as shown in Figure 3 shown.

[0031] In one embodiment of the present application, unitizing the mesh cylinder to obtain a unit cell includes:

[0032] Setting the height coordinate of the upper top surface of the unit cell to a × unit height, and setting the height coordinate of the lower bottom surface of the unit cell to -(1 - a) × unit height, where 0 < a < 1;

[0033] Determining the horizontal angle according to the preset number of sides, and determining the horizontal coordinates of the unit cell according to the horizontal angle and the unit radius.

[0034] In this embodiment, in order to facilitate the subsequent deformation of the mesh cylinder into a support structure, the mesh cylinder is unitized to form a unitized cylinder.

[0035] The mesh cylinder is divided into an upper top surface and a lower bottom surface. The height coordinate z of the upper top surface is z = a × unit height, and the height coordinate z of the lower bottom surface is z = -(1 - a) × unit height. If a = 0.5 and the unit height h = 1 mm, then the height coordinate z of the upper top surface is 0.5 mm, and the height coordinate z of the lower bottom surface is -0.5 mm.

[0036] The corresponding calculation formulas for the first horizontal coordinate x and the second horizontal coordinate y are as follows:

[0037] x = r × sinα

[0038] y = r × cosα

[0039] Among them, r is the unit radius, and the horizontal angle α is evenly divided into 360 degrees according to the preset number of sides. Taking 8 sides as an example, α = 360 / 8 = 45 degrees.

[0040] In the embodiment of the present application, a grid cylinder is established and the grid cylinder is unitized into unit bodies, so as to realize deformation based on the unit bodies and obtain each support structure.

[0041] S102. Determine the structural parameters of multiple support structures for supporting the model to be printed, and construct a deformation matrix corresponding to the support structure based on the structural parameters of the support structure.

[0042] The method for obtaining the initial overall support structure network is not limited. Existing solutions can be adopted, or any future method can be used to obtain it. For example, geometric analysis can be performed through slicing software to mark the overhanging areas of the model to be printed. The overhanging areas are areas with an angle greater than 45° with the horizontal plane. Continuous tree-shaped, linear or block-shaped support structures are generated according to the overhanging areas to form the initial overall support structure network, which will not be further described in this application. The overall support structure network for supporting the model to be printed can be disassembled in advance to obtain multiple support structures. As Figure 4 shown, it is disassembled at the connection node 401 to obtain multiple support structures 402. It should be noted that Figure 4 only some of the support structures and connection nodes are marked with arrows and circles, and not all are marked.

[0043] In S102, for a support structure, obtain its corresponding structural parameters, and construct a deformation matrix corresponding to the support structure by using the structural parameters.

[0044] In an embodiment of the present application, the structural parameters of the support structure include at least one of the following: the radius of the upper top surface of the support structure, the radius of the lower bottom surface of the support structure, the support point where the upper top surface of the support structure contacts the model to be printed, and the center point of the lower bottom surface of the support structure.

[0045] Constructing a deformation matrix corresponding to the support structure based on the structural parameters of the support structure includes:

[0046] Construct a target center point, a target normal vector, and a target radius according to the radius of the upper top surface of the support structure, the radius of the lower bottom surface of the support structure, the support point, and the center point of the lower bottom surface of the support structure;

[0047] Based on the target center point, the target normal vector, and the target radius, construct a deformation matrix corresponding to the support structure, and the deformation matrix is used to perform at least one operation of scaling, rotating, and translating the unit body.

[0048] In this embodiment, the structural parameters of the support structure are fixed parameters of the support structure. The structural parameters can be automatically generated by slicing software according to the model to be printed, or manually optimized by the user. The structural parameters of the support structure include, but are not limited to: the radius of the upper top surface of the support structure, the radius of the lower bottom surface of the support structure, the support point where the upper top surface of the support structure contacts the model to be printed, and the center point of the lower bottom surface of the support structure. As Figure 5 shown, the radius of the upper top surface of the support structure is topR, the radius of the lower bottom surface of the support structure is bottR, the support point where the upper top surface of the support structure contacts the model M to be printed is p1, and the center point of the lower bottom surface of the support structure is p2. It should be noted that for the radius of the upper top surface of the support structure, if the upper top surface is circular, it is the radius of the circle; if it is a polygon, it is the circumradius or inradius of the polygon. For the radius of the lower bottom surface of the support structure, if the upper top surface is circular, it is the radius of the circle; if it is a polygon, it is the circumradius or inradius of the polygon.

[0049] According to the radius topR of the upper top surface of the support structure, the radius bottR of the lower bottom surface of the support structure, the support point p1, and the center point p2 of the lower bottom surface of the support structure, a target center point, a target normal vector, and a target radius are constructed. Among them, the target center point center = (p1 + p2) / 2. The target center point is the center of the support structure obtained after the deformation of the unit body. The target normal vector nor = (p1 - p2) / |p1 - p2|. The target normal vector will be used to determine the direction of the support structure obtained after the deformation of the unit body. The target radius radius = {topR, bottR, |p1 - p2|}, where |p1 - p2| represents the scaling factor in the height direction, that is, the distance between two points, and here it is used as the height of the support structure obtained after the deformation of the unit body. topR and bottR will be used for the top and bottom of the support structure obtained after the deformation of the unit body respectively.

[0050] Then, according to the target center point center, the target normal vector nor, and the target radius radius, a deformation matrix corresponding to the support structure is constructed. The deformation matrix is used to perform at least one of the operations of scaling, rotating, and translating on the unit body.

[0051] It should be noted that the structural parameters of different support structures are different, so different deformation matrices are constructed. After applying the deformation matrix to the unit body, the unit body can be deformed into the corresponding support structure.

[0052] In the embodiment of the present application, the unit body can be scaled, rotated, translated, etc. through the deformation matrix, so that the unit body is deformed into a support structure at the corresponding position of the model to be printed.

[0053] In one embodiment of the present application, based on the target center point, the target normal vector, and the target radius, constructing a deformation matrix corresponding to the support structure includes:

[0054] Based on the target center point, the target normal vector, and the target radius, constructing a scaling matrix, a rotation matrix, and a translation matrix corresponding to the support structure;

[0055] According to the scaling matrix, the rotation matrix, and the translation matrix, obtaining the deformation matrix corresponding to the support structure.

[0056] In this embodiment, the translation matrix is used to move the center of the unit body from the zero position to the calculated target center point center. For example, the form of the translation matrix can be:

[0057]

[0058] Wherein, -center_x is the translation vector in the first horizontal direction, -center_y is the translation vector in the second horizontal direction, -center_z is the translation vector in the direction of the target normal vector nor, and the direction of the target normal vector nor, that is, the height direction, is obtained from the target center point center.

[0059] Since the top radius and the bottom radius may be different, a non-uniform scaling matrix is set. This scaling matrix includes a first scaling matrix constructed by the radius topR of the upper top surface of the support structure and |p1 - p2|, and a second scaling matrix constructed by the radius bottR of the lower bottom surface of the support structure and |p1 - p2|.

[0060] The scaling matrix has a scaling factor |p1 - p2| in the direction of the target normal vector nor, that is, height scaling is applied in the direction of the target normal vector nor, and there are two different scaling factors topR and bottR on the plane perpendicular to the target normal vector nor to ensure that the shapes of the top and bottom after scaling will not be distorted.

[0061] The rotation matrix is used to align the direction of the support structure obtained after deforming the unit body with the target normal vector nor. In one embodiment of the present application, when constructing the rotation matrix corresponding to the support structure, it is judged whether the target normal vector is collinear with the original first horizontal direction of the support structure; if the target normal vector is not collinear with the original first horizontal direction, then the original first horizontal direction is used as the target first horizontal direction of the rotation matrix, and according to the target normal vector and the target first horizontal direction, the target second horizontal direction of the rotation matrix is determined; if the target normal vector is collinear with the original first horizontal direction, then the original second horizontal direction of the support structure is used as the target second horizontal direction of the rotation matrix, and according to the target normal vector and the target second horizontal direction, the target first horizontal direction of the rotation matrix is determined.

[0062] Cross-multiply the target normal vector nor with the original first horizontal direction coordinates (1, 0, 0) of the support structure, and determine whether the two are collinear according to the cross-multiplication result. If the target normal vector nor is collinear with the original first horizontal direction, then select the original second horizontal direction (0, 1, 0) as the target second horizontal direction of the rotation matrix, and then determine the vertical vector perpendicular to both the target normal vector and the target second horizontal direction as the target first horizontal direction of the rotation matrix. If the target normal vector nor is not collinear with the original first horizontal direction, then use the original first horizontal direction as the target first horizontal direction of the rotation matrix, and then determine the vertical vector perpendicular to both the target normal vector and the target first horizontal direction as the target second horizontal direction of the rotation matrix.

[0063] After constructing the scaling matrix, rotation matrix, and translation matrix, combine the scaling matrix, rotation matrix, and translation matrix into a deformation matrix through matrix multiplication.

[0064] S103, deform the unit body according to the deformation matrix corresponding to each support structure respectively to generate multiple support structures.

[0065] In this step, apply the combined deformation matrix to each vertex of the unit body to generate the required support structure.

[0066] In an embodiment of the present application, the method further includes: when scaling the unit body using the scaling matrix, determine the target scaling matrix according to the coordinates of the vertices of the unit body in the direction of the target normal vector, and scale the vertices of the unit body according to the target scaling matrix;

[0067] Among them, if the coordinate of the vertex of the unit body in the direction of the target normal vector is greater than 0, the target scaling matrix is the first scaling matrix constructed by the radius of the upper top surface of the support structure; if the coordinate of the vertex of the unit body in the direction of the target normal vector is less than 0, the target scaling matrix is the second scaling matrix constructed by the radius of the lower bottom surface of the support structure.

[0068] In this embodiment, according to whether the coordinate of the vertex of the unit body in the direction of the target normal vector is greater than 0, different scaling matrices are used to scale the vertices of the unit body.

[0069] If the coordinate of the vertex of the unit body in the direction of the target normal vector is greater than 0, then scale the vertices of the unit body using the first scaling matrix. Specifically, in the direction of the target normal vector, scale the vertices of the unit body using the height direction scaling factor, and in the horizontal direction, scale the vertices of the unit body using the radius of the upper top surface of the support structure.

[0070] If the coordinate of the vertex of the unit cell in the direction of the target normal vector is less than 0, the vertex of the unit cell is scaled using the second scaling matrix. Specifically, in the direction of the target normal vector, the vertex of the unit cell is scaled using the height direction scaling factor, and in the horizontal direction, the vertex of the unit cell is scaled using the radius of the lower bottom surface of the support structure.

[0071] By the above method, based on the magnitude of the coordinate of the vertex of the unit cell in the direction of the target normal vector, different scaling matrices are used to scale the unit cell, reducing the distortion problem of the shapes of the top and bottom after scaling and improving the accuracy of the support structure.

[0072] In an embodiment of the present application, the method further includes: performing rendering processing and / or file slicing processing on the generated support structure. Rendering the generated support structure, or performing mesh operations such as file slicing and file export on the generated support structure.

[0073] In an embodiment of the present application, a unit cell is pre-constructed, and then based on the structural parameters of different support structures, deformation matrices corresponding to each support structure are constructed, and the pre-constructed unit cell is deformed using the deformation matrices, thereby automatically generating different support structures.

[0074] Compared with the solution of constructing each support structure by editing separately, the structural parameters of the support structure in the present application are pre-stored information. Therefore, only the unit cell needs to be input, and the unit cell can be automatically deformed according to the deformation matrix calculated from the structural parameters to generate the support structure, without editing each support structure separately for construction, reducing the editing workload, increasing the generation speed of the support structure, and improving the rendering or operation efficiency during subsequent rendering or its mesh operations.

[0075] An embodiment of the present application further provides a 3D printing device, as Figure 4 shown, the 3D printing device 400 includes a processor 401 and a memory 402. A program or instruction that can run on the processor 401 is stored on the memory 402. When the program or instruction is executed by the processor 401, each step of the above-described embodiment of the support structure processing method is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be elaborated here.

[0076] The memory 402 can be used to store software programs and various data. The memory 402 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data. Among them, the first storage area may store an operating system, application programs or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 402 may include volatile memory or non-volatile memory, or the memory 402 may include both volatile and non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM), and a direct rambus random access memory (DRRAM). The memory 402 in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0077] The processor 401 may include one or more processing units; optionally, the processor 401 integrates an application processor and a modem processor. Among them, the application processor mainly processes operations related to the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above modem processor may not be integrated into the processor 401.

[0078] The embodiments of the present application also provide a readable storage medium. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, each process of the above-mentioned support structure processing method embodiment is implemented, and the same technical effects can be achieved. To avoid repetition, it will not be elaborated here.

[0079] The present application also provides the following embodiments:

[0080] Embodiment 1. A method for processing a support structure, characterized by comprising:

[0081] Construct a unit body based on the unit body parameters;

[0082] Determine the structural parameters of a plurality of support structures for supporting a model to be printed, and construct a deformation matrix corresponding to the support structure based on the structural parameters of the support structure;

[0083] Deform the unit body according to the deformation matrix corresponding to each support structure respectively to generate a plurality of the support structures.

[0084] Embodiment 2. On the basis of Embodiment 1, the constructing a unit body based on the unit body parameters includes:

[0085] Obtain the unit body parameters, where the unit body parameters include a preset number of sides, a unit radius, and a unit height;

[0086] Construct the vertices of the upper top surface and the vertices of the lower bottom surface according to the preset number of sides, and perform stitching processing on the corresponding vertices of the upper top surface and the lower bottom surface to form a side grid;

[0087] Form a grid cylinder from the upper top surface, the lower bottom surface, and the side grid, and perform unitization processing on the grid cylinder to obtain the unit body.

[0088] Embodiment 3. On the basis of Embodiment 2, the performing unitization processing on the grid cylinder to obtain the unit body includes:

[0089] Set the height coordinate of the upper top surface of the unit body to a × the unit height, and set the height coordinate of the lower bottom surface of the unit body to -(1 - a) × the unit height, where 0 < a < 1;

[0090] Determine a horizontal angle according to the preset number of sides, and determine the horizontal coordinates of the unit body according to the horizontal angle and the unit radius; the calculation formulas for the first horizontal coordinate and the second horizontal coordinate of the unit body are:

[0091] x = r × sinα

[0092] y = r × cosα

[0093] where x is the first horizontal coordinate, y is the second horizontal coordinate, r is the unit radius, α is the horizontal angle, and the horizontal angle is obtained by equally dividing a 360-degree angle by the preset number of sides.

[0094] Example 4. Based on Example 1, the structural parameters of the support structure include at least one of the following: the radius of the upper top surface of the support structure, the radius of the lower bottom surface of the support structure, the support point where the upper top surface of the support structure contacts the model to be printed, and the center point of the lower bottom surface of the support structure;

[0095] Constructing the deformation matrix corresponding to the support structure based on the structural parameters of the support structure includes:

[0096] Construct a target center point, a target normal vector, and a target radius according to the radius of the upper top surface of the support structure, the radius of the lower bottom surface of the support structure, the support point, and the center point of the lower bottom surface of the support structure;

[0097] Based on the target center point, the target normal vector, and the target radius, construct the deformation matrix corresponding to the support structure, and the deformation matrix is used to perform at least one of the operations of scaling, rotating, and translating the unit body.

[0098] Example 5. Based on Example 4, the target center point center = (p1 + p2) / 2;

[0099] The target normal vector nor = (p1 - p2) / |p1 - p2|;

[0100] The target radius radius = {topR, bottR, |p1 - p2|};

[0101] Wherein, p1 represents the support point, p2 represents the center point of the lower bottom surface of the support structure, |p1 - p2| represents the scaling factor in the height direction, topR represents the radius of the upper top surface of the support structure, and bottR represents the radius of the lower bottom surface of the support structure.

[0102] Example 6. Based on Example 5, constructing the deformation matrix corresponding to the support structure based on the target center point, the target normal vector, and the target radius includes:

[0103] Based on the target center point, the target normal vector, and the target radius, construct the scaling matrix, rotation matrix, and translation matrix corresponding to the support structure;

[0104] According to the scaling matrix, the rotation matrix, and the translation matrix, obtain the deformation matrix corresponding to the support structure.

[0105] Example 7. Based on Example 6, the method further includes:

[0106] When constructing the rotation matrix corresponding to the support structure, determine whether the target normal vector is collinear with the original first horizontal direction of the support structure;

[0107] If the target normal vector is not collinear with the original first horizontal direction, use the original first horizontal direction as the target first horizontal direction of the rotation matrix, and determine the target second horizontal direction of the rotation matrix according to the target normal vector and the target first horizontal direction;

[0108] If the target normal vector is collinear with the original first horizontal direction, use the original second horizontal direction of the support structure as the target second horizontal direction of the rotation matrix, and determine the target first horizontal direction of the rotation matrix according to the target normal vector and the target second horizontal direction.

[0109] Embodiment 8. On the basis of Embodiment 6, the method further includes:

[0110] When scaling the unit cell using the scaling matrix, determine the target scaling matrix according to the coordinates of the vertices of the unit cell in the direction of the target normal vector, and scale the vertices of the unit cell according to the target scaling matrix;

[0111] Wherein, if the coordinate of the vertex of the unit cell in the direction of the target normal vector is greater than 0, the target scaling matrix is the first scaling matrix constructed by the radius of the upper top surface of the support structure; if the coordinate of the vertex of the unit cell in the direction of the target normal vector is less than 0, the target scaling matrix is the second scaling matrix constructed by the radius of the lower bottom surface of the support structure.

[0112] It should be noted that in this article, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0113] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative rather than restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them fall within the protection scope of the present application.

Claims

1. A method for processing a supporting structure, characterized in that: include: Based on the unit body parameters, construct the unit body; Determining structural parameters of a plurality of support structures for supporting the model to be printed, and constructing a deformation matrix corresponding to the support structure based on the structural parameters of the support structure; The unit bodies are deformed respectively according to the deformation matrix corresponding to each of the support structures to generate a plurality of the support structures.

2. The method according to claim 1, characterized in that The step of constructing a unit body based on the unit body parameters includes: Obtaining the unit body parameters, wherein the unit body parameters include a preset number of edges, a unit radius, and a unit height; Constructing the vertices of the upper top surface and the vertices of the lower bottom surface according to the preset number of edges, and stitching the vertices of the upper top surface and the vertices of the lower bottom surface accordingly to form a side mesh; A grid column is formed by the upper top surface, the lower bottom surface and the side grids, and the grid column is unitized to obtain the unit body.

3. The method according to claim 2, characterized in that The unitizing the grid column to obtain the unit body comprises: The height coordinate of the upper top surface of the unit body is set to a×the unit height, and the height coordinate of the lower bottom surface of the unit body is set to -(1-a)×the unit height, where 0<a<1; The horizontal angle is determined according to the preset number of sides, and the horizontal coordinate of the unit body is determined according to the horizontal angle and the unit radius; the calculation formula of the first horizontal coordinate and the second horizontal coordinate of the unit body is: x=r×sinα y=r×cosα Among them, x is the first horizontal coordinate, y is the second horizontal coordinate, r is the unit radius, α is the horizontal angle, and the horizontal angle is obtained by evenly dividing the 360-degree angle by the preset number of sides.

4. The method according to claim 1, characterized in that: The structural parameters of the support structure include at least one of the following: the radius of the upper top surface of the support structure, the radius of the lower bottom surface of the support structure, the support point where the upper top surface of the support structure contacts the model to be printed, and the center point of the lower bottom surface of the support structure; The step of constructing a deformation matrix corresponding to the supporting structure based on the structural parameters of the supporting structure includes: Constructing a target center point, a target normal vector, and a target radius according to the radius of the upper top surface of the support structure, the radius of the lower bottom surface of the support structure, the support point, and the center point of the lower bottom surface of the support structure; Based on the target center point, the target normal vector and the target radius, a deformation matrix corresponding to the support structure is constructed, and the deformation matrix is ​​used to perform at least one operation of scaling, rotating and translating the unit body.

5. The method according to claim 4, characterized in that The target center point center = (p1 + p2) / 2; The target normal vector nor=(p1-p2) / |p1-p2|; The target radius radius={topR, bottR, |p1-p2|}; Among them, p1 represents the supporting point, p2 represents the center point of the lower bottom surface of the supporting structure, |p1-p2| represents the height direction scaling factor, topR represents the radius of the upper top surface of the supporting structure, and bottR represents the radius of the lower bottom surface of the supporting structure.

6. The method according to claim 5, characterized in that The constructing a deformation matrix corresponding to the support structure based on the target center point, the target normal vector and the target radius includes: Based on the target center point, the target normal vector and the target radius, construct a scaling matrix, a rotation matrix and a translation matrix corresponding to the support structure; A deformation matrix corresponding to the support structure is obtained according to the scaling matrix, the rotation matrix and the translation matrix.

7. The method according to claim 6, characterized in that The method further comprises: When constructing the rotation matrix corresponding to the support structure, determining whether the target normal vector is collinear with the original first horizontal direction of the support structure; If the target normal vector is not collinear with the original first horizontal direction, taking the original first horizontal direction as the target first horizontal direction of the rotation matrix, and determining the target second horizontal direction of the rotation matrix according to the target normal vector and the target first horizontal direction; If the target normal vector is collinear with the original first horizontal direction, the original second horizontal direction of the support structure is used as the target second horizontal direction of the rotation matrix, and the target first horizontal direction of the rotation matrix is ​​determined based on the target normal vector and the target second horizontal direction.

8. The method according to claim 6, characterized in that The method further comprises: When the unit body is scaled by using the scaling matrix, a target scaling matrix is ​​determined according to the coordinates of the vertices of the unit body in the direction of the target normal vector, and the vertices of the unit body are scaled according to the target scaling matrix; Among them, if the coordinates of the vertices of the unit body in the direction of the target normal vector are greater than 0, the target scaling matrix is ​​a first scaling matrix constructed by the radius of the upper top surface of the supporting structure; if the coordinates of the vertices of the unit body in the direction of the target normal vector are less than 0, the target scaling matrix is ​​a second scaling matrix constructed by the radius of the lower bottom surface of the supporting structure.

9. A 3D printing device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the support structure processing method according to any one of claims 1 to 8 are implemented.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the support structure processing method according to any one of claims 1 to 8 are implemented.

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