Contour path planning method for structural circuit integrated manufacturing, storage medium and equipment

Abstract

The invention discloses a contour path planning method for structural circuit integrated manufacturing, a storage medium and equipment, and the method comprises the steps: importing slice contour data of a structural circuit integrated model, extracting all closed contours of a structural circuit from each layer of slice contour data, and calculating the geometric center of each closed contour; a closed contour tree data structure is constructed according to the contour data of each layer of slices, contour offset is set according to the inclusion relation between closed contours, and a printing filling contour is generated; geometric centers of closed contours in each layer of slice contour data form a node set, and an optimal global contour path printing sequence is determined through a genetic annealing algorithm; according to the optimal global contour path printing sequence, the printing starting point of each closed contour is optimally selected, and an optimal printing starting point set of all the closed contours is obtained; and according to the optimal global contour path printing sequence and the optimal printing starting point set, the movement track of the printing head is determined, and the printing filling contour is printed.

Description

Technical Field

[0001] This invention belongs to the field of additive manufacturing technology, specifically relating to a contour path planning method, storage medium, and device for integrated manufacturing of structural circuits. Background Technology

[0002] Additive manufacturing technology transforms digital models into three-dimensional entities through layer-by-layer stacking, and its path planning strategy directly determines the forming efficiency and quality. With the development of technology, integrated structural circuit manufacturing has become a research hotspot. This technology requires the simultaneous deposition of insulating and conductive materials using a multi-material printer in the same printing process, thereby directly manufacturing integrated structural circuit prototypes with embedded circuits.

[0003] However, in integrated structural circuit manufacturing, the cross-sections are typically extremely complex, containing structural outlines and numerous discretely distributed conductive line outlines. This "multiple islands, multiple nesting" characteristic requires the print head to frequently jump between numerous discrete outlines. If the outline printing sequence is not set properly, it can result in extremely long idle travel paths, which not only significantly increases printing time and reduces manufacturing efficiency, but also easily leads to uncontrolled material overflow due to gravity or internal pressure during the print head's idle travel, severely affecting the conductivity of the structural circuit and the surface quality of the structural components.

[0004] Existing slicing software typically employs a simple nearest neighbor method for path planning, always selecting the contour closest to the current point for the next print. This locally greedy strategy cannot optimize the path from a global perspective and is prone to getting trapped in local optima. While traditional genetic algorithms have global search capabilities, they converge slowly and are prone to premature convergence. Therefore, there is an urgent need for a slicing contour path planning method that can adapt to the complex cross-sectional features of integrated structural circuits, employing a hierarchical strategy of global sorting followed by local optimization, which can both guarantee global optima and achieve fast convergence. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a contour path planning method, storage medium, and device for integrated structural circuit manufacturing, solving the problems of large idle stroke redundancy and low efficiency in the prior art when planning the printing sequence of complex slice contours with multiple material models.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A contour path planning method for integrated manufacturing of structural circuits includes the following steps: Step 1: Import the slice contour data of the integrated structural circuit model, extract all closed contours of the structural circuit from each layer of slice contour data, and calculate the geometric center of each closed contour. Step 2: Construct a closed contour tree data structure based on the contour data of each layer of slices, and set the contour offset according to the containment relationship between closed contours to generate the print fill contour; Step 3: Construct a node set from the geometric centers of the closed contours in each layer of slice contour data, and determine the optimal global contour path printing order using the genetic annealing algorithm; Step 4: Based on the optimal global contour path printing order, optimize the selection of the printing start point for each closed contour to obtain the optimal printing start point set for all closed contours; Step 5: Determine the movement trajectory of the print head based on the optimal global contour path printing order and the optimal set of printing starting points, and print the filling contour.

[0007] Furthermore, the calculation process for the geometric center of each closed contour in step 1 is as follows:

[0008]

[0009] in, For the first The number of vertices of a closed contour. for index, For the first The geometric center coordinates of a closed contour For the first On the closed contour, the first The coordinates of the vertices of the contour.

[0010] Furthermore, step 2 includes the following sub-steps: Step 2.1: Establish a closed contour tree data structure based on the algorithm for determining whether a point is inside a polygon. If a point in the contour tree data structure is inside an even number of closed contours, the closed contour containing the point is the outer contour; if a point is inside an odd number of closed contours, the closed contour containing the point is the inner contour. Step 2.2: Set the outer contour to inward offset and the inner contour to outward offset; Step 2.3: Perform steps 2.1-2.2 on all closed contours, and perform self-intersection, trimming and interpolation operations on all closed contours to generate printable filled contours.

[0011] Furthermore, step 3 includes the following sub-steps: Step 3.1: Construct a node set from the geometric centers of the closed contours in each layer of slice contour data, and use the lower left corner vertex of the outermost closed contour as the starting point for printing the global contour path. Step 3.2: Use integer permutation encoding to represent the printing order of closed contours in the node set, randomly initialize the printing order of closed contours as individuals of the genetic annealing algorithm, construct the total empty run fitness function based on the printing order, and set the maximum number of iterations of the genetic annealing algorithm; Step 3.3: Calculate the total idle travel fitness function for each individual, and retain the individual with the largest total idle travel fitness function value; Step 3.4: Perform genetic operations on all individuals, calculate the total empty run fitness function of the individuals whose genetic operations were performed, and sort the individuals in descending order of their total empty run fitness function values, placing the top-ranked individuals first... Individuals at a given position undergo local search via annealing to update themselves and proceed to the next iteration; Step 3.5: Repeat step 3.3, compare the total idle travel fitness function value with the individuals retained in the previous iteration, and retain the individual with the largest total idle travel fitness function value; Step 3.6: Repeat steps 3.4-3.5 until the maximum number of iterations is reached, and use the individual with the largest total empty travel fitness function as the optimal global contour path printing order.

[0012] Furthermore, the construction process of the total empty run fitness function based on printing order is as follows:

[0013] in, Indicates the first Total empty travel distance for each individual Indicates the first The fitness function of each individual.

[0014] Furthermore, it will be ranked first The specific process of an individual performing a local search through the annealing mechanism is as follows: Adjust the local printing order of the current individual to obtain a new individual; if the energy difference... If a new individual is accepted, then a new individual is accepted; otherwise, the decision is made based on probability. Accepting new individuals; in, , Represents a new individual; Indicates the first Annealing temperature in the next iteration .

[0015] Furthermore, step 4 includes the following sub-steps: Step 4.1: Starting from the optimal global contour path printing order, select two adjacent closed contours in sequence. and ; Step 4.2: Calculate the closed contour Print endpoint to closed contour The vertex with the shortest Euclidean distance among all vertices of the contour is selected as the closed contour. Candidate starting points; Step 4.3: Determine whether the line segment connecting the printing endpoint and the candidate starting point intersects with any contour within the corresponding slice contour data; Step 4.4: If they are disjoint, use the candidate starting point as the closed contour. The starting point for printing; if they intersect, then in the closed contour Find the suboptimal vertex as the closed contour. Find the candidate starting point and repeat step 4.3.

[0016] Furthermore, the present invention also provides a computer-readable storage medium storing a computer program that causes a computer to execute the described contour path planning method for integrated fabrication of structured circuits.

[0017] Furthermore, the present invention also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the contour path planning method for integrated manufacturing of structural circuits. Compared with the prior art, the present invention has the following beneficial effects: This invention presents a slice contour path planning method for integrated structural circuit manufacturing. It employs a two-stage strategy: first optimizing the global contour path printing order, then optimizing the printing starting point set. Compared to simple contour vertex traversal, this significantly reduces computational complexity. Simultaneously, the genetic annealing algorithm combines the global search capability of genetic algorithms with the local jump capability of simulated annealing, effectively overcoming the shortcomings of traditional nearest neighbor methods (prone to local optima) and the slow convergence of standard genetic algorithms. Simulation results show that, compared to traditional methods, this invention significantly reduces idle travel paths during printing, thereby greatly improving the forming efficiency of integrated structural circuit manufacturing. By reducing the ineffective movement of the nozzle in non-printing areas, it effectively reduces the risk of conductive material stringing and dripping during idle travel, ensuring the electrical performance of the circuit and the surface quality of the structural components. Attached Figure Description

[0018] Figure 1 This is an overall flowchart of the slice contour path planning method for integrated manufacturing of structured circuits according to the present invention; Figure 2 This is a schematic diagram showing the correspondence between all contours contained in the slice and the contour tree, where, Figure 2 In the image (a), all the contour maps on a slice are shown. Figure 2(b) in the diagram represents the hierarchical structure of the outline tree; Figure 3 This is a comparison chart showing the contour path planning effects of this invention and the nearest neighbor method applied to slices containing different numbers of closed contours. Figure 3 (a) in the diagram is a length diagram of the nearest neighbor contour path planning for a closed contour of 10. Figure 3 (b) is a schematic diagram illustrating the length of the nearest neighbor contour path planning for a closed contour of 10. Figure 3 (c) in the diagram is a length diagram of the nearest neighbor contour path planning for a closed contour of 20. Figure 3 (d) is a schematic diagram illustrating the length of the nearest neighbor contour path planning for a closed contour of 20. Figure 3 (e) in the diagram is a length diagram of the nearest neighbor contour path planning for a closed contour of 43. Figure 3 The diagram shows the length of the nearest neighbor contour path planning for the closed contour (f) with a value of 43. Detailed Implementation

[0019] The technical solutions of the present invention will now be clearly and completely described in conjunction with the accompanying drawings.

[0020] like Figure 1 This is an overall flowchart of the slice contour path planning method for integrated manufacturing of structured circuits according to the present invention. The slice contour path planning method includes the following steps: Step 1: Import the slice outline data of the integrated structural circuit model. Because the integrated structural circuit model includes both structural and circuit components, the slices contain multiple discontinuous simply connected regions, such as... Figure 2 As shown in (a), it is necessary to extract all closed contours of the structural circuit from each layer of slice contour data, denoted as ,in, For the outermost closed contour, calculate the geometric center of each closed contour:

[0021]

[0022] in, For the first The number of vertices of a closed contour. for index, For the first The geometric center coordinates of a closed contour For the first On the closed contour, the first The coordinates of the vertices of the contour.

[0023] Step 2: Construct a closed contour tree data structure based on the contour data of each layer of slices, and set the contour offset according to the containment relationship between closed contours to generate the print fill contour; including the following sub-steps: Step 2.1: Establish a closed contour tree data structure based on the algorithm for determining whether a point is inside a polygon, such as... Figure 2 As shown in (b) of the contour tree data structure, if a point is inside an even number of closed contours, the closed contour in which the point is located is the outer contour; if a point is inside an odd number of closed contours, the closed contour in which the point is located is the inner contour. Step 2.2: In order to ensure the shape and surface quality of the printed parts, the contour offset scanning fill algorithm is usually used to set an appropriate number of offset layers and then perform contour offset fill on the slice contour. The offset directions of the inner and outer contours of the slice contour are different, that is, the inner contour is offset outward and the outer contour is offset inward.

[0024] Step 2.3: Perform steps 2.1-2.2 on all closed contours, and perform self-intersection, trimming and interpolation operations on all closed contours to ensure the geometric correctness of the offset closed contours and generate the printable fill contours.

[0025] Step 3: Construct a node set from the geometric centers of the closed contours in each layer of slice contour data. Utilizing the fast convergence of the genetic algorithm and the ability of the simulated annealing algorithm to accept poor solutions, determine the optimal global contour path printing order using the genetic annealing algorithm; this includes the following sub-steps: Step 3.1: Construct a node set from the geometric centers of the closed contours in each layer of slice contour data, and use the lower left corner vertex of the outermost closed contour as the starting point for printing the global contour path. Step 3.2: Use integer permutation encoding to represent the printing order of closed contours in the node set, randomly initialize the printing order of closed contours as individuals of the genetic annealing algorithm, construct the total empty run fitness function based on the printing order, and set the maximum number of iterations of the genetic annealing algorithm; To align with the "survival of the fittest" selection mechanism of genetic algorithms, this invention transforms the engineering problem of finding the shortest path into a mathematical problem of finding the maximum fitness, constructing a fitness function based on the total empty runs in the printing order:

[0026] in, Indicates the first Total empty travel distance for each individual Indicates the first The fitness function of each individual.

[0027] Step 3.3: Calculate the total idle travel fitness function for each individual, and retain the individual with the largest total idle travel fitness function value; Step 3.4: Perform genetic operations on all individuals, including selection using a binary tournament selection strategy, crossover using a sequential crossover operator, and mutation using a weighted combination strategy of exchange, inversion, and insertion. Genetic operations simultaneously explore multiple regions of the solution space, improving global search capability and avoiding getting trapped in local optima. Calculate the total empty run fitness function of the individuals that have undergone genetic operations, and sort the individuals according to their total empty run fitness function values ​​from largest to smallest, placing the top-ranked individuals... Individuals in each position undergo local search through an annealing mechanism. By introducing randomness into the annealing algorithm, it is allowed to receive poor solutions with a certain probability, thereby escaping local optima and updating the individuals. This accelerates convergence, improves computational efficiency, and allows the next iteration to begin. In this invention, the first one will be listed The specific process of an individual performing a local search through the annealing mechanism is as follows: Adjust the local printing order of the current individual to obtain a new individual; if the energy difference... If a new individual is accepted, then a new individual is accepted; otherwise, the decision is made based on probability. Accepting new individuals; in, , Represents a new individual; Indicates the first Annealing temperature in the next iteration .

[0028] Step 3.5: Repeat step 3.3, compare the total idle travel fitness function value with the individuals retained in the previous iteration, and retain the individual with the largest total idle travel fitness function value; Step 3.6: Repeat steps 3.4-3.5 until the maximum number of iterations is reached, and use the individual with the largest total empty travel fitness function as the optimal global contour path printing order.

[0029] Step 4: Based on the optimal global contour path printing order, to ensure that the empty driving path between contours is always the geometrically shortest line segment, the printing starting point of each closed contour should be optimized to obtain the optimal printing starting point set for all closed contours; this includes the following sub-steps: Step 4.1: Starting from the optimal global contour path printing order, select two adjacent closed contours in sequence. and ; Step 4.2: Calculate the closed contour Print endpoint to closed contour The vertex with the shortest Euclidean distance among all vertices of the contour is selected as the closed contour. Candidate starting points; Step 4.3: Perform interference detection on the candidate starting point to determine whether the line segment connecting the printing endpoint and the candidate starting point intersects with any contour in the corresponding slice contour data; Step 4.4: If they are disjoint, use the candidate starting point as the closed contour. The starting point for printing; if they intersect, then in the closed contour Find the suboptimal vertex as the closed contour. Find the candidate starting point, repeat step 4.3, and ensure that the path is not only the shortest but also free from geometric interference.

[0030] Step 5: Determine the movement trajectory of the print head based on the optimal global contour path printing order and the optimal set of printing starting points, and print the filling contour.

[0031] like Figure 3 The method of this invention is applied to an integrated slice model of a structural circuit containing different numbers of closed contours. Figure 3 (a) is a schematic diagram of the path planning of the nearest neighbor method for a closed contour of 10, and the planned path length is 120.217 mm; Figure 3 (b) is a schematic diagram of the path planning of the nearest neighbor method for a closed profile of 10. The planned path length is 97.492 mm, which is 22.725% shorter. Figure 3 (c) in the diagram is a schematic diagram of the path planning for the nearest neighbor method contour with a closed contour of 20. The planned path length is 181.484 mm. Figure 3 The diagram shows the length of the nearest neighbor contour path planning for (d) closed contour 20. The planned path length is 160.128 mm, which is 11.767% shorter. Figure 3 (e) in the diagram is a schematic diagram of the path planning for the nearest neighbor method contour with a closed contour of 43. The planned path length is 288.810 mm. Figure 3 The diagram in (f) shows the length of the nearest neighbor contour path planning for a closed contour of 43. The planned path length is 242.306 mm, which is 16.102% shorter.

[0032] This invention presents a slicing contour path planning method for integrated structural circuit manufacturing. It employs a two-stage strategy: first optimizing the global contour path printing order, then optimizing the printing starting point set. Compared to simple contour vertex traversal, this significantly reduces computational complexity. Simultaneously, this invention significantly reduces idle travel paths during the printing process, thereby greatly improving the forming efficiency of integrated structural circuit manufacturing. By reducing the ineffective movement of the nozzle in non-printing areas, it effectively reduces the risk of conductive material stringing and dripping during idle travel, ensuring the electrical performance of the circuit and the surface quality of the structural components.

[0033] In one embodiment of the present invention, a computer-readable storage medium is also provided, storing a computer program that enables a computer to execute the contour path planning method of the present invention for integrated fabrication of structured circuits.

[0034] In one technical solution of the present invention, an electronic device is also provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the contour path planning method of the present invention for integrated manufacturing of structural circuits.

[0035] In the embodiments disclosed in this application, a computer storage medium may be a tangible medium that may contain or store programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of computer storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, and portable compact disc read-only memory (CD). ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0036] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0037] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A profile path planning method for structural circuit integration manufacturing, characterized in that, The method comprises the following steps: Step 1: importing slice contour data of the structural circuit integration model, extracting all closed contours of the structural circuit from each layer of slice contour data, and calculating the geometric center of each closed contour; Step 2: constructing a closed contour tree data structure according to each layer of slice contour data, setting a contour offset according to the inclusion relationship between the closed contours, and generating a printing filling contour; Step 3: constructing a node set from the geometric center of the closed contour in each layer of slice contour data, and determining an optimal global contour path printing order through a genetic annealing algorithm; Step 4: optimizing and selecting the printing starting point of each closed contour according to the optimal global contour path printing order, and obtaining an optimal printing starting point set of all closed contours; Step 5: determining the motion trajectory of the printing head according to the optimal global contour path printing order and the optimal printing starting point set, and printing the printing filling contour.

2. The method of claim 1, wherein the method is a method of contour path planning for integrated manufacturing of a structural circuit. The calculation process of the geometric center of each closed contour in step 1 is as follows: wherein, is the number of vertices of the th closed contour, is the index of th closed contour, is the number of vertices of the th closed contour, is the coordinate of the th vertex of the th closed contour.

3. The method of claim 1, wherein the method is a method of contour path planning for integrated manufacturing of a structural circuit. Step 2 comprises the following sub-steps: Step 2.1: establishing a closed contour tree data structure based on a point-in-polygon determination algorithm, if a point in the contour tree data structure is inside an even number of closed contours, the closed contour in which the point is located is an outer contour; if the point is inside an odd number of closed contours, the closed contour in which the point is located is an inner contour; Step 2.2: setting the outer contour to be inwardly offset, and setting the inner contour to be outwardly offset; Step 2.3: performing steps 2.1-2.2 on all closed contours, and performing self-intersection processing, clipping and interpolation operations on all closed contours to generate a printing filling contour.

4. The method of claim 1, wherein the method is a method of contour path planning for integrated manufacturing of a structural circuit. Step 3 comprises the following sub-steps: Step 3.1: constructing a node set from the geometric center of the closed contour in each layer of slice contour data, and taking the lower left corner vertex of the outermost closed contour as the starting point of the global contour path printing; Step 3.2: adopting integer permutation coding to represent the printing order of the closed contours in the node set, randomly initializing the printing order of the closed contours as an individual of the genetic annealing algorithm, constructing a total empty travel fitness function based on the printing order, and setting the maximum number of iterations of the genetic annealing algorithm; Step 3.3: calculating the total empty travel fitness function of each individual, and retaining the individual with the maximum total empty travel fitness function value; Step 3.4: Perform genetic operation on all individuals, calculate the total empty travel fitness function of the individuals performing genetic operation, and sort the individuals in descending order of total empty travel fitness function value. The individuals ranked in the front are locally searched by annealing mechanism to update the individuals and enter the next iteration. Step 3.5: If the total empty travel fitness function value of the individuals in the current iteration is less than the total empty travel fitness function value of the individuals in the last iteration, the current iteration is the final iteration, and the individuals in the final iteration are the final individuals. Step 3.6: If the total empty travel fitness function value of the individuals in the current iteration is greater than the total empty travel fitness function value of the individuals in the last iteration, the current iteration is the last iteration, and the individuals in the last iteration are the final individuals Step 3.5: repeating step 3.3, comparing the total empty travel fitness function values of the individual retained in the last iteration and the individual retained in the current iteration, and retaining the individual with the maximum total empty travel fitness function value; Step 3.6: repeating steps 3.4-3.5 until the maximum number of iterations is reached, and taking the individual with the maximum total empty travel fitness function as the optimal global contour path printing order.

5. The method of claim 4, wherein: The construction process of the total empty travel fitness function based on the printing order is as follows: wherein, represents the total empty travel distance of the th individual, represents the fitness function of the th individual.

6. The method of claim 5, wherein: Individuals ranked at the front The detailed procedure of local search by annealing mechanism for individuals ranked at the front is as follows: adjust the local printing order of the current individual to obtain a new individual, if the energy difference , accept the new individual; otherwise, accept the new individual with a probability . wherein , denotes a new individual; denotes the annealing temperature at the .

7. The method of claim 1, wherein the method is a method of contour path planning for integrated manufacturing of a structural circuit. Step 4 comprises the following sub-steps: Step 4.1: From the optimal global contour path print order, select two adjacent closed contours in sequence and ; Step 4.2: Calculate the closed contour Print endpoint to closed contour The vertex with the shortest Euclidean distance among all vertices of the contour is selected as the closed contour. Candidate starting points; Step 4.3: judging whether the connection line segment of the printing endpoint and the candidate starting point intersects with any contour in the corresponding slice contour data; Step 4.4: If apart, candidate starting point is the printing starting point of the closed contour ; If intersecting, find a suboptimal vertex on the closed contour as a candidate starting point for the closed contour Repeat step 4.

3.

8. A computer readable storage medium storing a computer program, characterized in that, The computer program enables the computer to execute the contour path planning method for structural circuit integration manufacturing according to any one of claims 1-7.

9. An electronic device, comprising: It comprises: The memory, the processor and the computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to implement the profile path planning method for structure-oriented circuit integration manufacturing according to any one of claims 1-7.

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