Multi-laser printing path planning method, device, equipment and medium
By determining the segmented area in multi-laser printing technology and segmenting and extending the fill line, the problem of vertical cracks in multi-laser printing is solved, and the printing quality and mechanical performance of the parts are improved.
Patent Information
- Application Number
- CN202311836336.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-28
- Publication Date
- 2025-08-01
Smart Images
Figure CN120394893A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of additive manufacturing, and in particular, to a path planning method, device, equipment and medium for multi-laser printing. Background Art
[0002] Selective Laser Melting (SLM) technology is a kind of 3D printing technology. The working principle of SLM is as follows: before processing, the powder material is paved on the substrate, and a high-energy laser beam is generated by a laser. According to the scanning path, the laser is focused on the metal powder, so that the powder melts and solidifies, and is continuously stacked into a shape. With the increasing maturity of metal additive manufacturing technology, the demands of users are gradually increasing. Therefore, a single laser cannot meet all the requirements of customers. With multi-laser printing equipment, the efficiency can be improved by multiple lasers, and large parts can be printed collaboratively. The division of multi-laser data is generally to divide different laser areas, and then attribute the data to different areas.
[0003] However, in the existing path planning of multi-lasers, the filling lines in the overlapping area scanned by the lasers are usually segmented, and each segmented line is printed by a corresponding laser. In this way, a vertical crack will appear during the printing process, and this crack will seriously affect the mechanical properties of the part. Summary of the Invention
[0004] The purpose of the present invention is to provide a path planning method, device, equipment and medium for multi-laser printing, which is used to solve the problem that vertical cracks easily appear during the printing process in the existing multi-laser printing, resulting in poor quality of the printed parts.
[0005] In order to achieve the above purpose, the present invention provides the following technical solutions:
[0006] In the first aspect, the present invention provides a path planning method for multi-laser printing, including: obtaining a scanning overlapping area and a segmentation range; the scanning overlapping area is the overlapping area scanned by the lasers for each slice layer of the part;
[0007] Determining a segmentation area in the scanning overlapping area according to the position of the segmentation line and the segmentation range; the position of the segmentation line of the first slice layer is the preset initial position of the segmentation line; the position of the segmentation line of any slice layer except the first slice layer in the part is obtained by moving the position of the segmentation line of the previous slice layer of the current slice layer by a preset movement increment;
[0008] Using the position of the segmentation line to segment the target filling line in the segmentation area, obtaining a first segmentation line and a second segmentation line after segmentation; the target filling line is the filling line in the segmentation area whose endpoints are located on both sides of the segmentation line;
[0009] Extend the first dividing line and the second dividing line along the target filling line trajectory respectively, so that the extension end point of the extended line coincides with the end point of the target filling line before division or the extension end point of the extended line coincides with the edge of the divided area, and obtain the extended first dividing line and the extended second dividing line;
[0010] Control the first laser to scan along the extended first dividing line, and control the second laser to scan along the extended second dividing line.
[0011] Compared with the prior art, in the path planning method for multi-laser printing provided by the present invention, a divided area in the scanning overlapping area is determined according to the dividing line position and the dividing range; the divided area is a custom overlapping area in the scanning overlapping area, and the target filling line in the divided area is divided by the dividing line position to obtain the divided first dividing line and the second dividing line; the target filling line is a filling line whose end points are on both sides of the dividing line in the divided area; extend the first dividing line and the second dividing line along the target filling line trajectory respectively, so that the extension end point of the extended line coincides with the end point of the target filling line before division or the extension end point of the extended line coincides with the edge of the divided area, and obtain the extended first dividing line and the extended second dividing line; control the first laser to scan along the extended first dividing line, and control the second laser to scan along the extended second dividing line. This solution divides and extends the target filling lines located at both ends of the dividing line in the divided area, and controls the two lasers to scan the extended first dividing line and the extended second dividing line respectively, which is equivalent to scanning the line segments of the same filling line located in the divided area twice in the overlapping area. It can avoid the situation in the existing method where the filling line is divided and one laser scans a part, resulting in poor connection at the dividing point, gaps, and weak burning, and a vertical crack appears on the part, achieving better connection and improving the printing quality. In addition, the dividing line position of any slice layer in the part except the first slice layer is obtained by moving a preset movement increment from the dividing line position of the previous slice layer of the current slice layer; it can make the dividing line positions of each slice layer not on the same vertical line, and the custom divided areas are not on the same vertical line either, avoiding the appearance of vertical cracks during printing, and at the same time avoiding the situation of excessive powder spreading at the same vertical line position when scanning the same filling line twice, achieving a more uniform transition and further improving the printing quality.
[0012] In a second aspect, the present invention provides a path planning device for multi-laser printing, including:
[0013] A scanning overlapping area and dividing range acquisition module, configured to acquire the scanning overlapping area and the dividing range; the scanning overlapping area is the overlapping area of the lasers scanning each slice layer of the part;
[0014] A segmentation area determination module, configured to determine a segmentation area in the scanning overlapping area according to the position of the segmentation line and the segmentation range; the position of the segmentation line of the first layer of slice layers is a preset initial position of the segmentation line; the position of the segmentation line of any layer of slice layers except the first layer of slice layers in the part is obtained by moving a preset movement increment from the position of the segmentation line of the previous slice layer of the current slice layer;
[0015] A filling line segmentation module, configured to segment a target filling line in the segmentation area by using the position of the segmentation line, to obtain a first segmentation line and a second segmentation line after segmentation; the target filling line is a filling line in the segmentation area whose endpoints are located on both sides of the segmentation line;
[0016] An extension module, configured to extend the first segmentation line and the second segmentation line respectively along the trajectory of the target filling line, so that the extension end point of the extended line coincides with the end point of the target filling line before segmentation or the extension end point of the extended line coincides with the edge of the segmentation area, to obtain an extended first segmentation line and an extended second segmentation line;
[0017] A printing module, configured to control a first laser to scan according to the extended first segmentation line, and control a second laser to scan according to the extended second segmentation line.
[0018] In a third aspect, the present invention provides a path planning device for multi-laser printing, including:
[0019] A communication unit / communication interface, configured to obtain a scanning overlapping area and a segmentation range; the scanning overlapping area is an area where lasers scan and overlap when scanning each slice layer of a part;
[0020] A processing unit / processor, configured to determine a segmentation area in the scanning overlapping area according to the position of the segmentation line and the segmentation range; the position of the segmentation line of the first layer of slice layers is a preset initial position of the segmentation line; the position of the segmentation line of any layer of slice layers except the first layer of slice layers in the part is obtained by moving a preset movement increment from the position of the segmentation line of the previous slice layer of the current slice layer;
[0021] Segment a target filling line in the segmentation area by using the position of the segmentation line, to obtain a first segmentation line and a second segmentation line after segmentation; the target filling line is a filling line in the segmentation area whose endpoints are located on both sides of the segmentation line;
[0022] Extend the first segmentation line and the second segmentation line respectively along the trajectory of the target filling line, so that the extension end point of the extended line coincides with the end point of the target filling line before segmentation or the extension end point of the extended line coincides with the edge of the segmentation area, to obtain an extended first segmentation line and an extended second segmentation line;
[0023] Control the first laser to scan according to the extended first dividing line, and control the second laser to scan according to the extended second dividing line.
[0024] In a fourth aspect, the present invention provides a computer-readable storage medium, characterized in that instructions are stored in the computer-readable storage medium, and when the instructions are run, the path planning method for multi-laser printing is implemented.
[0025] The technical effects achieved by the device-related solution provided in the second aspect, the equipment-related solution provided in the third aspect, and the computer-readable storage medium-related solution provided in the fourth aspect are the same as those of the method-related solution provided in the first aspect, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] The drawings described herein are used to provide a further understanding of the present invention and form a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:
[0027] Figure 1 is a flowchart of a path planning method for multi-laser printing provided by the present invention;
[0028] Figure 2 is a schematic diagram of a scanning overlapping area provided by the present invention;
[0029] Figure 3 is a schematic diagram of a dividing area provided by the present invention;
[0030] Figure 4 is a schematic diagram of a filling line with at least one end point outside the dividing area provided by the present invention;
[0031] Figure 5 is a schematic diagram of a filling line with both end points inside the dividing area provided by the present invention;
[0032] Figure 6 is a schematic diagram of the structure of a path planning device for multi-laser printing provided by the present invention;
[0033] Figure 7 is a schematic diagram of the structure of a path planning device for multi-laser printing provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0034] For the convenience of clearly describing the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and effects. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and do not limit their order. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily limit being different.
[0035] It should be noted that in the present invention, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.
[0036] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (item)" or similar expressions thereof refer to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b or c can represent: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b and c can be single or multiple.
[0037] Currently, most laser printing is single-laser printing. When the size of the part is very large, the scanning range of one laser cannot cover the entire part, and multiple lasers need to cooperate for printing. At this time, there will be an overlapping area in the scanning of the two lasers. For the overlapping area, usually one laser is responsible for printing one area, and it is easy to have cracks in the overlapping area, seriously affecting the quality of the part.
[0038] To solve the above problems, the present invention provides a path planning method, device, equipment and medium for multi-laser printing. The following will be described in conjunction with the accompanying drawings.
[0039] Figure 1 As shown in the flowchart of a path planning method for multi-laser printing provided by the present invention, Figure 1 the path planning method for multi-laser printing includes the following steps:
[0040] Step 101: Obtain the scanning overlapping area and the segmentation range; the scanning overlapping area is the area where the scanning ranges corresponding to each slice layer scanned by the laser overlap when scanning the part.
[0041] The specific steps for obtaining the scanning overlapping area are as follows: Obtain the three-dimensional model of the part and the scanning ranges of multiple lasers, and perform slicing processing on the three-dimensional model to obtain multiple slice layers.
[0042] Perform path filling on the multiple slice layers to obtain the filled slice layers.
[0043] According to the scanning ranges of multiple lasers, divide the filled slice layers into regions to obtain the scanning overlapping areas corresponding to each slice layer scanned by the laser for the part. For multiple scanning overlapping areas of lasers, as Figure 2 shown, the first scanning area is the area scanned by the first laser alone, the second scanning area is the area scanned by the second laser alone, and the scanning overlapping area is the area where the scanning ranges of the first laser and the second laser overlap.
[0044] Among them, for a multi-laser additive manufacturing device, there may be scanning overlapping areas where the scanning ranges of more than two lasers overlap. The overlapping areas of two by two can be processed separately. This solution takes two lasers with overlapping scanning ranges as an example for path planning. The overlapping scanning range of the lasers is obtained after the user sets the machine parameters. When the user creates multiple scanning areas and the created scanning areas generate a scanning overlapping area, a region segmentation tab page will appear after the processing platform tab page in the machine setting interface. The coverage areas of multiple lasers, that is, the maximum scanning ranges of the lasers, are displayed on the processing platform. It should be understood that the scanning overlapping area is only the overlapping area within the maximum scanning ranges that the two lasers can scan themselves, rather than the scanning overlapping area during the actual printing process. The segmentation area is the scanning overlapping area of the two lasers set in this solution during the scanning process. The segmentation range is the overlapping width set for the scanning of the two lasers.
[0045] Step 102: Determine the segmentation area in the scanning overlapping area according to the position of the segmentation line and the segmentation range; the position of the segmentation line of the first layer of slice layer is the preset initial position of the segmentation line; the position of the segmentation line of any slice layer other than the first layer of slice layer in the part is obtained by moving the preset moving increment from the position of the segmentation line of the previous slice layer of the current slice layer.
[0046] Specifically, determine the segmentation area of the first layer of slice layer according to the initial position of the segmentation line and the segmentation area; the initial position of the segmentation line is located at the position of the preset percentage of the scanning overlapping area.
[0047] Move the initial position of the segmentation line by the preset moving increment to obtain the position of the segmentation line of the second layer of slice layer.
[0048] Determine the segmentation area of the second slice layer according to the position of the segmentation line and the range of the overlapping area of the second slice layer;
[0049] Continue to move the position of the segmentation line of the second slice layer by a preset moving increment until the number of movements reaches the preset number or the obtained segmentation area exceeds the preset range. Take the initial position of the segmentation line as the position of the segmentation line of the next slice layer; the preset range is the boundary range of the scanning overlapping area.
[0050] Complete the determination of the segmentation areas in all the scanning overlapping areas of the slice layers.
[0051] The above steps can be implemented by setting parameters such as the starting position of the segmentation line, the moving increment, the number of repetitions, and the overlapping width in the area segmentation interface. The starting position of the segmentation line is the position of the segmentation line of the first slice layer, usually set as a percentage of the segmentation area, and the input value range is a natural number between 0 - 100%; the moving increment is the value by which the segmentation line moves. If the moved segmentation line exceeds the segmentation area, the segmentation line returns to the initial position of the segmentation line; the number of repetitions is the number of times the segmentation line is allowed to move according to the defined moving increment before returning to the starting position. If the set number of repetitions is not reached, but the segmentation line has already exceeded the segmentation area, then the segmentation line returns to the defined starting position. In this case, the number of repetitions will never be reached; as Figure 3 shown, the overlapping width is the width of the segmentation area, and the segmentation area is centered on the segmentation line. This solution determines the segmentation area within the laser scanning overlapping area and processes the filling lines in the segmentation area.
[0052] Step 103: Use the position of the segmentation line to segment the target filling line in the segmentation area to obtain the first segmentation line and the second segmentation line after segmentation; the target filling line is the filling line in the segmentation area whose endpoints are on both sides of the segmentation line;
[0053] Before using the position of the segmentation line to segment the target filling line in the segmentation area to obtain the first segmentation line and the second segmentation line after segmentation, it is necessary to judge the endpoint positions of the filling lines in the segmentation area. Specifically:
[0054] Traverse the filling lines in the segmentation area, judge the positional relationship between the endpoints of the filling lines in the segmentation area and the segmentation line. If both endpoints of the filling line are on the same side of the segmentation line, then record the two endpoints on the same side as the first endpoint and the second endpoint, and then use the laser corresponding to the scanning area closest to the first endpoint to scan the filling line; the first endpoint is the endpoint of the filling line that is far from the segmentation line;
[0055] If the two endpoints of the filling line are on both sides of the segmentation line, then determine the filling line as the target filling line. Then classify the target filling line according to the positions of the two endpoints of the filling line:
[0056] Classify the hatching lines in the divided area according to the positions of the endpoints of the hatching lines; if one of the two endpoints of the hatching line is outside the divided area and the other endpoint is inside the divided area, then determine the hatching line as the first target hatching line;
[0057] If both endpoints of the hatching line are outside the divided area, then determine the hatching line as the second target hatching line;
[0058] If both endpoints of the hatching line are inside the divided area, then determine the hatching line as the third target hatching line.
[0059] Step 104: Extend the first dividing line and the second dividing line along the trajectories of the target hatching lines respectively, so that the extension endpoints of the extended lines coincide with the endpoints of the target hatching line before division or the extension endpoints of the extended lines coincide with the edge of the divided area, to obtain the extended first dividing line and the extended second dividing line;
[0060] When the target hatching line to be divided is the first target hatching line, extend the first dividing line including the endpoint outside the divided area in the first target hatching line from the dividing point along the trajectory of the first target hatching line to the endpoint of the first target hatching line, to obtain the extended first dividing line corresponding to the first target hatching line;
[0061] Extend the second dividing line including the endpoint inside the divided area in the first target hatching line from the dividing point along the trajectory of the first target hatching line to stop at the edge of the divided area; to obtain the extended second dividing line corresponding to the first target hatching line;
[0062] When the target hatching line to be divided is the second target hatching line, extend the first dividing line in the second target hatching line from the dividing point along the trajectory of the second target hatching line to the first edge of the divided area, to obtain the extended first dividing line corresponding to the second target hatching line;
[0063] Extend the second dividing line in the second target hatching line from the dividing point along the trajectory of the second target hatching line to the second edge of the divided area, to obtain the extended second dividing line corresponding to the second target hatching line;
[0064] When the target hatching line to be divided is the third target hatching line, extend the first dividing line of the third target hatching line from the dividing point along the trajectory of the third target hatching line to one endpoint of the third target hatching line, to obtain the extended first dividing line corresponding to the third target hatching line;
[0065] Extend the second dividing line of the third target hatching line from the dividing point along the trajectory of the third target hatching line to the other endpoint of the third target hatching line, to obtain the extended second dividing line corresponding to the third target hatching line.
[0066] Step 105: Control the first laser to scan according to the extended first dividing line, and control the second laser to scan according to the extended second dividing line.
[0067] The scanning processes of the lasers for the three cases where the two endpoints of the filling line are on one side of the dividing line, or the two endpoints of the filling line are on both sides of the dividing line, or one endpoint is inside the dividing area and one endpoint is outside the dividing area can be combined Figure 4 and Figure 5 described as follows. As Figure 4 shown, for filling lines 1, 2, and 3, one endpoint is outside the dividing area and one endpoint is inside the dividing area. For filling line 4, both endpoints are outside the dividing area. Among them, for filling line 1, both endpoints are on the left side of the dividing line. The first laser starts from the left side of the dividing area and stops scanning at point A because the end point of filling line 1 is on the left side of the dividing line, so the second laser does not scan. For filling line 2, the two endpoints are on both sides of the dividing line. The first laser starts scanning from the left side of the dividing area to the intersection of filling line 2 and the dividing line, and then continues to extend to the right until it stops at the end point B of filling line 2. Since the end point B of filling line 2 does not exceed the dividing area, the second laser starts from the end point B of filling line 2 and extends to the left until it stops at the edge of the dividing area. For filling line 3, the first laser starts scanning from the left side of the dividing area to the intersection with the dividing line, and then continues to extend to the right until it stops at the end point D of filling line 3. Since filling line 3 does not fill the entire dividing area, the second laser starts from the end point D of the filling line and extends to the left until it stops at the left boundary of the dividing area. For filling line 4, both the starting point and the end point of the entire line segment are outside the dividing area. So the first laser and the second laser each scan the filling line 4 inside the dividing area once. The first laser starts scanning from the left side of the dividing area and stops at the right boundary of the dividing area, and the second laser starts scanning from the right side of the dividing area and stops at the left boundary of the dividing area.
[0068] As Figure 5 shown, for filling lines 5 - 18, both endpoints of the filling lines are inside the dividing area. Among them, for filling lines 5 - 8, only the first laser scans; for filling lines 15 - 18, only the second laser scans; and for the remaining filling lines 9 - 14, the first laser and the second laser each scan once.
[0069] The path planning method for multi-laser printing performs segmentation and extension processing on the target filling lines located at both ends of the segmentation line in the segmented area, and controls two lasers to scan the extended first segmentation line and second segmentation line respectively. This is equivalent to scanning the line segments of the same filling line in the overlapping area within the segmented area twice, which can avoid the situation in the existing method where the filling line is segmented, and one laser scans a part, resulting in poor connection at the segmentation point, gaps, and insufficient burning, and a vertical crack appears on the part. It can achieve better connection and improve the printing quality. In addition, the position of the segmentation line of any slice layer in the part except the first slice layer is obtained by moving a preset movement increment from the position of the segmentation line of the previous slice layer of the current slice layer; this can make the positions of the segmentation lines of each slice layer not on the same vertical line, and the custom segmented areas are also not on the same vertical line, avoiding the appearance of vertical cracks during printing, and at the same time avoiding the situation of excessive powder spreading at the same vertical line position when the same filling line is scanned twice, achieving a more uniform transition and further improving the printing quality.
[0070] As an optional method, before using the segmentation line to segment the filling lines with endpoints at both ends of the segmentation line in the segmented area to obtain two segmented filling lines, it further includes:
[0071] Traverse the filling lines in the segmented area to determine the first filling line dataset with two endpoints on both sides of the segmentation line;
[0072] Traverse the filling lines in the first filling line dataset to determine the second filling line dataset with the distances from both endpoints to the segmentation line greater than a preset length;
[0073] Use the segmentation line to segment the filling lines in the second filling line dataset.
[0074] Exemplarily, the preset length can be 0.01 mm. For the line segments segmented in the segmented area, if the length of any one side of the two sides is less than 0.01 mm, this line segment will not be segmented, and the original scanning method can be maintained. Because there will be a large number of speed conversions when the scanning distance is too short, which is not conducive to the stability of the machine and the printing speed, and each light-off startup process takes time, which will cause a relatively high local heat input in a small area. Therefore, line segments less than 0.01 mm are not segmented to ensure the printing quality. It should be noted that the preset length of 0.01 mm is only for illustrative purposes and is not specifically limited. The preset length can also be other preset values.
[0075] In the embodiments of the present invention, functional modules can be divided according to the above method examples. For example, each functional module can be corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present invention is illustrative, only a logical function division, and there can be other division methods in actual implementation.
[0076] In the case of dividing each functional module corresponding to each function, Figure 6 FIG. shows a schematic structural diagram of a path planning device for multi-laser printing provided by the present invention. As Figure 6 shown, the device includes:
[0077] A scanning overlapping area and segmentation range acquisition module 601, configured to acquire a scanning overlapping area and a segmentation range; the scanning overlapping area is an overlapping area of the laser scanning each slice layer of the part;
[0078] A segmentation area determination module 602, configured to determine a segmentation area in the scanning overlapping area according to the segmentation line position and the segmentation range; the segmentation line position of the first slice layer is a preset initial segmentation line position; the segmentation line position of any slice layer except the first slice layer in the part is obtained by moving a preset movement increment from the segmentation line position of the previous slice layer of the current slice layer;
[0079] A filling line segmentation module 603, configured to segment a target filling line in the segmentation area by using the segmentation line position to obtain a first segmentation line and a second segmentation line after segmentation; the target filling line is a filling line whose endpoints are on both sides of the segmentation line in the segmentation area;
[0080] An extension module 604, configured to extend the first segmentation line and the second segmentation line along the track of the target filling line respectively, so that the extension end point of the extension line coincides with the end point of the target filling line before segmentation or the extension end point of the extension line coincides with the edge of the segmentation area, to obtain an extended first segmentation line and an extended second segmentation line;
[0081] A printing module 605, configured to control the first laser to scan according to the extended first segmentation line and control the second laser to scan according to the extended second segmentation line.
[0082] Optionally, the segmentation area determination module 602 may specifically include:
[0083] The segmentation area determination unit of the first slice layer is used to determine the segmentation area of the first slice layer according to the initial position of the segmentation line and the segmentation area; the initial position of the segmentation line is located at a position of a preset percentage of the scanning overlapping area;
[0084] The segmentation position determination unit of the second slice layer is used to move the initial position of the segmentation line by a preset movement increment to obtain the segmentation line position of the second slice layer;
[0085] The segmentation area determination unit of the second slice layer is used to determine the segmentation area of the second slice layer according to the segmentation line position of the second slice layer and the lap area range;
[0086] The moving unit is used to continue to move the segmentation line position of the second slice layer by a preset movement increment until the number of movements reaches a preset number or the obtained segmentation area exceeds a preset range, and use the initial position of the segmentation line as the segmentation line position of the next slice layer;
[0087] The segmentation area loop determination unit is used to complete the determination of the segmentation area in the scanning overlapping area of all slice layers.
[0088] Optionally, the device further includes a target filling line determination module, which may specifically include:
[0089] The first target filling line determination unit is used to classify the filling lines in the segmentation area according to the positions of the endpoints of the filling line; if one of the two endpoints of the filling line is outside the segmentation area and one endpoint is inside the segmentation area, then determine the filling line as the first target filling line;
[0090] The second target filling line determination unit is used to determine the filling line as the second target filling line if both endpoints of the filling line are outside the segmentation area;
[0091] The third target filling line determination unit is used to determine the filling line as the third target filling line if both endpoints of the filling line are inside the segmentation area.
[0092] Optionally, the extension module 604 may specifically include:
[0093] The first target filling line segmentation and extension unit is used to, when the segmented target filling line is the first target filling line, extend the first segmentation line including the endpoint outside the segmentation area in the first target filling line from the segmentation point along the trajectory of the first target filling line to the endpoint of the first target filling line to obtain the extended first segmentation line corresponding to the first target filling line;
[0094] Extend the second dividing line including the end point within the dividing area in the first target filling line from the dividing point along the track of the first target filling line until it stops at the edge of the dividing area; obtain the extended second dividing line corresponding to the first target filling line;
[0095] The extended unit of the second target filling line after division is used to, when the divided target filling line is the second target filling line, extend the first dividing line in the second target filling line from the dividing point along the track of the second target filling line to the edge of the dividing area, and obtain the extended first dividing line corresponding to the second target filling line;
[0096] Extend the second dividing line in the second target filling line from the dividing point along the track of the second target filling line to the edge of the dividing area, and obtain the extended second dividing line corresponding to the second target filling line;
[0097] The extended unit of the third target filling line after division is used to, when the divided target filling line is the third target filling line, extend the first dividing line of the third target filling line from the dividing point along the track of the third target filling line to the end point of the third target filling line, and obtain the extended first dividing line corresponding to the third target filling line;
[0098] Extend the second dividing line of the third target filling line from the dividing point along the track of the third target filling line to the end point of the third target filling line, and obtain the extended second dividing line corresponding to the third target filling line.
[0099] Optionally, the device further includes a second filling line dataset determining module, which may include:
[0100] The first filling line dataset determining unit is used to traverse the filling lines in the dividing area and determine the first filling line dataset with two end points on both sides of the dividing line;
[0101] The second filling line dataset determining unit is used to traverse the filling lines in the first filling line dataset and determine the second filling line dataset with the distances from both end points to the dividing line greater than a preset length;
[0102] The second filling line dataset dividing unit is used to divide the filling lines in the second filling line dataset by using the dividing line.
[0103] Optionally, the device further includes a filling line processing module for the same-side end points, which is specifically used to traverse the filling lines in the dividing area, judge the positional relationship between the end points of the filling lines in the dividing area and the dividing line. If both end points of the filling line are on the same side of the dividing line, and the two end points on the same side include the first end point and the second end point, then use the laser corresponding to the scanning area closest to the first end point to scan the filling line; the first end point is the end point of the filling line far from the dividing line;
[0104] If the two end points of the filling line are located on both sides of the dividing line, the filling line is determined as the target filling line.
[0105] Optionally, the scanning overlapping area and dividing range obtaining module may specifically include:
[0106] An obtaining unit and a slicing unit, configured to obtain a three-dimensional model of a part and the scanning ranges of a plurality of lasers, and perform slicing processing on the three-dimensional model to obtain a plurality of sliced layers;
[0107] A path filling unit, configured to perform path filling on the plurality of sliced layers to obtain the filled sliced layers;
[0108] An area dividing unit, configured to divide the filled sliced layers according to the scanning ranges of the plurality of lasers to obtain the scanning overlapping areas corresponding to each sliced layer of the part scanned by the two lasers.
[0109] The above path planning device for multi-laser printing is a virtual device, including virtual units and virtual function modules. This device is used on a multi-laser additive manufacturing device. At the same time, a path planning device for multi-laser printing provided by the present invention corresponds to a path planning method for multi-laser printing and acts on a multi-laser additive manufacturing device.
[0110] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the interaction between each module. It can be understood that, in order to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.
[0111] In the case of adopting corresponding integrated units, Figure 7 The structural schematic diagram of a path planning device for multi-laser printing provided by the present invention is shown. As Figure 7 shown, the path planning device for multi-laser printing includes:
[0112] A communication unit / communication interface, configured to obtain the scanning overlapping area and the dividing range; the scanning overlapping area is the overlapping area of the scanning of each sliced layer of the part by the lasers;
[0113] A processing unit / processor for determining a divided area in the scanning overlapping area according to the position of the dividing line and the dividing range; the position of the dividing line of the first layer of slice layers is the preset initial position of the dividing line; the position of the dividing line of any layer of slice layers except the first layer of slice layers in the part is obtained by moving the preset moving increment from the position of the dividing line of the previous slice layer of the current slice layer;
[0114] The target filling line in the divided area is divided by the position of the dividing line to obtain a first dividing line and a second dividing line after division; the target filling line is a filling line in the divided area whose endpoints are on both sides of the dividing line;
[0115] The first dividing line and the second dividing line are respectively extended along the trajectory of the target filling line, so that the extension end point of the extended line coincides with the end point of the target filling line before division or the extension end point of the extended line coincides with the edge of the divided area, to obtain an extended first dividing line and an extended second dividing line;
[0116] Control the first laser to scan according to the extended first dividing line, and control the second laser to scan according to the extended second dividing line.
[0117] The above-mentioned path planning device for multi-laser printing is a virtual device. This device is used on a multi-laser additive manufacturing device. At the same time, a path planning device for multi-laser printing provided by the present invention corresponds to a path planning method for multi-laser printing and acts on a multi-laser additive manufacturing device.
[0118] In some possible implementation manners, the above-mentioned path planning device may further include a storage module for storing program codes and data of the base station.
[0119] Among them, the processing unit may be a processor or a controller. For example, it may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of the present invention. The processor may also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication module may be a transceiver, a transceiver circuit or a communication interface, etc. The storage module may be a memory.
[0120] As Figure 7 shown, the above-mentioned processor may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. The above-mentioned communication interface(s) may be one or more. The communication interface may use any device such as a transceiver for communicating with other devices or communication networks.
[0121] As Figure 7 shown, the above-mentioned terminal device may further include a communication line. The communication line may include a path for transmitting information between the above-mentioned components.
[0122] Optionally, as Figure 7 shown, the terminal device may further include a memory. The memory is used to store computer-executable instructions for executing the solution of the present invention and is controlled by the processor for execution. The processor is used to execute the computer-executable instructions stored in the memory, thereby implementing the method provided by the embodiments of the present invention.
[0123] As Figure 7 shown, the memory may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor through a communication line. The memory may also be integrated with the processor.
[0124] Optionally, the computer-executable instructions in the embodiments of the present invention may also be referred to as application code, and the embodiments of the present invention do not make specific limitations thereto.
[0125] In a specific implementation, as an embodiment, as Figure 7 shown, the processor may include one or more CPUs, asFigure 7 CPU0 and CPU1 therein.
[0126] In a specific implementation, as an embodiment, as Figure 7 shown, the terminal device may include multiple processors, such as Figure 7 the processors therein. Each of these processors may be a single-core processor or a multi-core processor.
[0127] On the one hand, a computer-readable storage medium is provided. Instructions are stored in the computer-readable storage medium. When the instructions are run, the above-mentioned path planning method for multi-laser printing is implemented.
[0128] In the above embodiment, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user device, or other programmable devices. The computer program or instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium may be any available medium that the computer can access, or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disc (DVD); or it may be a semiconductor medium, such as a solid state drive (SSD).
[0129] Although the present invention has been described in conjunction with various embodiments herein, however, in the process of implementing the claimed invention, those skilled in the art can understand and achieve other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit may implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.
[0130] Although the present invention has been described in connection with specific features and their embodiments, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the invention. Accordingly, the specification and drawings are merely exemplary illustrations of the invention defined by the appended claims and are considered to cover any and all modifications, variations, combinations or equivalents within the scope of the invention. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.
Claims
1. A path planning method for multi-laser printing, characterized in that, Including: Obtaining a scanning overlapping region and a segmentation range; the scanning overlapping region is a region where the scanning ranges corresponding to each slice layer of the laser scanning the part overlap; Determining a segmentation region in the scanning overlapping region according to the position of the segmentation line and the segmentation range; the position of the segmentation line of the first slice layer is a preset initial position of the segmentation line; the position of the segmentation line of any slice layer except the first slice layer in the part is obtained by moving a preset movement increment from the position of the segmentation line of the previous slice layer of the current slice layer; Using the position of the segmentation line to segment the target filling line in the segmentation region to obtain a first segmentation line and a second segmentation line after segmentation; the target filling line is a filling line whose endpoints are on both sides of the segmentation line in the segmentation region; Extending the first segmentation line and the second segmentation line along the trajectory of the target filling line respectively, so that the extension end point of the extended line coincides with the end point of the target filling line before segmentation or the extension end point of the extended line coincides with the edge of the segmentation region, to obtain an extended first segmentation line and an extended second segmentation line; Controlling the first laser to scan according to the extended first segmentation line, and controlling the second laser to scan according to the extended second segmentation line.
2. The path planning method for multi-laser printing according to claim 1, wherein The determining the segmentation region in the scanning overlapping region according to the position of the segmentation line and the segmentation range includes: Determining the segmentation region of the first slice layer according to the initial position of the segmentation line and the segmentation range; the initial position of the segmentation line is at a position of a preset percentage of the scanning overlapping region; Moving the initial position of the segmentation line by a preset movement increment to obtain the position of the segmentation line of the second slice layer; Determining the segmentation region of the second slice layer according to the position of the segmentation line of the second slice layer and the segmentation range; Continuing to move the position of the segmentation line of the second slice layer by a preset movement increment until the number of movements reaches a preset number or the obtained segmentation region exceeds a preset range, and taking the initial position of the segmentation line as the position of the segmentation line of the next slice layer; Completing the determination of the segmentation regions in the scanning overlapping regions of all slice layers.
3. The path planning method for multi-laser printing according to claim 1, characterized in that Before the extending the first segmentation line and the second segmentation line along the trajectory of the filling line respectively, so that the extension end point of the extended line coincides with the end point of the filling line before segmentation or the extension end point of the extended line coincides with the edge of the segmentation region, to obtain an extended first segmentation line and an extended second segmentation line, further including: Classifying the filling lines in the segmentation region according to the positions of the endpoints of the filling lines; if one of the two endpoints of the filling line is outside the segmentation region and one endpoint is inside the segmentation region, then determining the filling line as a first target filling line; If both endpoints of the filling line are outside the segmentation region, then determining the filling line as a second target filling line; If both endpoints of the filling line are inside the segmentation region, then determining the filling line as a third target filling line.
4. The path planning method for multi-laser printing according to claim 3, wherein The extension direction of the first dividing line is opposite to that of the second dividing line; the steps of extending the first dividing line and the second dividing line along the filling line trajectory respectively, so that the extension end point of the extended line coincides with the end point of the filling line before division or the extension end point of the extended line coincides with the edge of the dividing area, to obtain the extended first dividing line and the extended second dividing line include: When the target filling line to be divided is the first target filling line, extend the first dividing line including the outer end point of the dividing area in the first target filling line from the dividing point along the trajectory of the first target filling line to the end point of the first target filling line, to obtain the extended first dividing line corresponding to the first target filling line; Extend the second dividing line including the inner end point of the dividing area in the first target filling line from the dividing point along the trajectory of the first target filling line until it stops at the edge of the dividing area; to obtain the extended second dividing line corresponding to the first target filling line; When the target filling line to be divided is the second target filling line, extend the first dividing line in the second target filling line from the dividing point along the trajectory of the second target filling line to the first edge of the dividing area, to obtain the extended first dividing line corresponding to the second target filling line; Extend the second dividing line in the second target filling line from the dividing point along the trajectory of the second target filling line to the second edge of the dividing area, to obtain the extended second dividing line corresponding to the second target filling line; When the target filling line to be divided is the third target filling line, extend the first dividing line of the third target filling line from the dividing point along the trajectory of the third target filling line to one end point of the third target filling line, to obtain the extended first dividing line corresponding to the third target filling line; Extend the second dividing line of the third target filling line from the dividing point along the trajectory of the third target filling line to the other end point of the third target filling line, to obtain the extended second dividing line corresponding to the third target filling line.
5. The path planning method for multi-laser printing according to claim 1, wherein, Before using the position of the dividing line to divide the target filling line in the dividing area to obtain the divided first dividing line and second dividing line, it further includes: Traverse the filling lines in the dividing area to determine the first filling line data set with two end points on both sides of the dividing line; Traverse the filling lines in the first filling line data set to determine the second filling line data set with the distances from both end points to the dividing line greater than the preset length; Use the dividing line to divide the filling lines in the second filling line data set.
6. The path planning method for multi-laser printing according to claim 1, wherein Before using the position of the dividing line to divide the target filling line in the dividing area to obtain the divided first dividing line and second dividing line, it further includes: Traverse the filling lines in the dividing area to judge the position relationship between the end points of the filling lines in the dividing area and the dividing line. If both end points of the filling line are on the same side of the dividing line, and the two end points on the same side include the first end point and the second end point, then use the laser corresponding to the scanning area closest to the first end point to scan the filling line; the first end point is the end point of the filling line far from the dividing line; If the two end points of the filling line are on both sides of the dividing line, then determine the filling line as the target filling line.
7. The path planning method for multi-laser printing according to claim 1, characterized in that The obtaining of the scanning overlapping area includes: Obtaining a three-dimensional model of a part and the scanning ranges of multiple lasers, and performing slicing processing on the three-dimensional model to obtain multiple sliced layers; Performing path filling on the multiple sliced layers to obtain the filled sliced layers; Dividing the filled sliced layers according to the scanning ranges of the multiple lasers to obtain the scanning overlapping areas corresponding to each sliced layer of the part scanned by the lasers.
8. A path planning device for multi-laser printing, characterized in that, It includes: A scanning overlapping area and dividing range obtaining module, configured to obtain the scanning overlapping area and the dividing range; the scanning overlapping area is the overlapping area corresponding to each sliced layer of the part scanned by the lasers; A dividing area determining module, configured to determine the dividing area in the scanning overlapping area according to the dividing line position and the dividing range; the dividing line position of the first sliced layer is the preset initial dividing line position; the dividing line position of any sliced layer of the part except the first sliced layer is obtained by moving the dividing line position of the previous sliced layer of the current sliced layer by a preset moving increment; A filling line dividing module, configured to divide the target filling line in the dividing area by using the dividing line position to obtain the divided first dividing line and second dividing line; the target filling line is the filling line in the dividing area whose endpoints are on both sides of the dividing line; An extending module, configured to extend the first dividing line and the second dividing line respectively along the track of the target filling line, so that the extending end point of the extended line coincides with the end point of the target filling line before division or the extending end point of the extended line coincides with the edge of the dividing area, to obtain the extended first dividing line and the extended second dividing line; A printing module, configured to control the first laser to scan according to the extended first dividing line and control the second laser to scan according to the extended second dividing line.
9. A path planning device for multi-laser printing, characterized in that, It includes: A communication unit / communication interface, configured to obtain the scanning overlapping area and the dividing range; the scanning overlapping area is the overlapping area corresponding to each sliced layer of the part scanned by the lasers; A processing unit / processor, configured to determine the dividing area in the scanning overlapping area according to the dividing line position and the dividing range; the dividing line position of the first sliced layer is the preset initial dividing line position; the dividing line position of any sliced layer of the part except the first sliced layer is obtained by moving the dividing line position of the previous sliced layer of the current sliced layer by a preset moving increment; Dividing the target filling line in the dividing area by using the dividing line position to obtain the divided first dividing line and second dividing line; the target filling line is the filling line in the dividing area whose endpoints are on both sides of the dividing line; Extending the first dividing line and the second dividing line respectively along the track of the target filling line, so that the extending end point of the extended line coincides with the end point of the target filling line before division or the extending end point of the extended line coincides with the edge of the dividing area, to obtain the extended first dividing line and the extended second dividing line; Controlling the first laser to scan according to the extended first dividing line and controlling the second laser to scan according to the extended second dividing line.
10. A computer-readable storage medium, characterized in that, Instructions are stored in the computer-readable storage medium, and when the instructions are run, the path planning method for multi-laser printing according to any one of claims 1 to 7 is implemented.