Method and apparatus for planning non-planar printing path, and storage medium and device

Abstract

The present application belongs to the technical field of 3D printing. Disclosed are a method and apparatus for planning a non-planar printing path, and a storage medium and a device. The method comprises: acquiring a single-layer object model to be printed; generating a first printing path for the single-layer object model; generating a compensation path on the basis of a sparse part in the first printing path; using a dynamic model to perform uniformization processing on the compensation path, so as to obtain a second printing path, wherein the second printing path tends to have a uniform distribution of distances during a simulated extrusion process; and determining a printing direction of each node on the second printing path, so as to obtain a final non-planar printing path. In the present application, a non-planar first printing path is formed on the surface of a single-layer object model, a compensation path is formed at a sparse part in the first printing path, and uniformization processing is performed on the compensation path on the basis of dynamic simulation, such that uniform printing during a non-planar printing process when the direction of a path and the direction of a curved surface are consistent is ensured, thereby optimizing the printing effect.

Description

Method, device, storage medium and equipment for planning non-planar printing paths Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to a method, apparatus, storage medium, and device for planning a non-planar printing path. Background Art

[0002] Non-planar printing path planning is a 3D printing technology used for 3D printing single-layer objects with complex topologies or curved surfaces. It eliminates the need for printing supports, aligns the printing path with the surface, and incorporates path compensation to ensure a uniform distribution of the printing path. Prior art techniques exist that utilize spatial contours derived from fields such as distance fields or temperature fields to generate non-planar 3D printing path planning.

[0003] However, due to its inherent non-planar nature, non-planar printing path planning technology may result in uneven paths. Currently, there is no technology to compensate for uneven paths.

[0004] Summary of the Invention

[0005] This application provides a method, apparatus, storage medium, and device for planning a non-planar printing path, which are used to solve the problem of being unable to compensate for uneven paths. The technical solution is as follows:

[0006] According to a first aspect of the present application, a method for planning a non-planar printing path is provided, the method comprising:

[0007] Get the single-layer object model to be printed;

[0008] generating a first printing path for the single-layer object model;

[0009] generating a compensation path according to the sparse portion in the first printing path;

[0010] The compensation path is homogenized using a dynamic model to obtain a second printing path, wherein the second printing path tends to be uniformly distributed in distance during the simulated extrusion process;

[0011] The printing direction of each node on the second printing path is determined to obtain a final non-planar printing path.

[0012] In a possible implementation, the using a dynamic model to perform homogenization processing on the compensation path to obtain the second printing path includes:

[0013] Acquire the compensation path and a path polyline within a certain range around it to obtain a first path polyline;

[0014] Acquire other path polylines within a certain range around the first path polyline to obtain a second path polyline, where the second path polyline is used to fix the movement range of the first path polyline;

[0015] The first path polyline is homogenized using the dynamic model and the second path polyline to obtain a second printing path.

[0016] In a possible implementation, the step of uniformizing the first path polyline using the dynamic model and the second path polyline to obtain the second printing path includes:

[0017] Assigning collider properties to the segments and endpoints of the first path polyline and the second path polyline;

[0018] imparting a force to nodes on the first path polyline to approach a mesh surface, the mesh surface being obtained by triangulating the single-layer object model;

[0019] Granting the first path polyline angle elasticity and each of its segments length elasticity;

[0020] The first path polyline and the second path polyline after the assignment are calculated using the dynamic model to obtain a second printing path.

[0021] In a possible implementation, generating a compensation path according to a sparse portion in the first printing path includes:

[0022] Searching for a sparse portion in the first printing path whose distance from the underlying layer is greater than a threshold;

[0023] At the location of the sparse part, a distance field function is used to form a double-layer contour line segment;

[0024] Connecting the contour line segments end to end to form a loop;

[0025] The loop is connected and softened according to the direction of the first printing path to obtain a compensation path.

[0026] In a possible implementation, generating a first printing path for the single-layer object model includes:

[0027] uniformly triangulating the single-layer object model and generating a distance field function for each vertex of the mesh;

[0028] Extracting equally divided contour lines of the distance field function by using an interpolation method;

[0029] The printing order is arranged according to the equally divided isovalue lines to obtain a first printing path.

[0030] In a possible implementation, generating a distance field function for each vertex of a mesh includes:

[0031] Obtaining upper and lower edges of the single-layer object model after meshing;

[0032] For each vertex in the grid, calculate the shortest distance from the vertex to the upper and lower edges along the grid line;

[0033] The distance field value corresponding to each vertex is calculated according to the shortest distance to obtain a distance field function.

[0034] In a possible implementation, extracting equally divided contour lines of the distance field function by using an interpolation method includes:

[0035] Divide the predetermined constant value into N equal parts to obtain N+1 values, where N≥1;

[0036] For each value, a line segment between the distance field function values ​​of the two endpoints is searched in the first printing path, interpolation points in the line segment are obtained using an interpolation method, and all interpolation points are connected to obtain equally divided contour lines corresponding to the value.

[0037] According to a second aspect of the present application, a device for planning a non-planar printing path is provided, the device comprising:

[0038] An acquisition module, used to obtain a single-layer object model to be printed;

[0039] a generating module, configured to generate a first printing path for the single-layer object model;

[0040] The generating module is further configured to generate a compensation path according to the sparse portion in the first printing path;

[0041] a processing module, configured to perform a uniform processing on the compensation path using a dynamic model to obtain a second printing path, wherein the second printing path tends to be uniformly distributed in distance during the simulated extrusion process;

[0042] A planning module is used to determine the printing direction of each node on the second printing path to obtain a final non-planar printing path.

[0043] According to a third aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the above-mentioned method for planning a non-planar printing path.

[0044] According to a fourth aspect of the present application, a computer device is provided, comprising the above-mentioned non-planar printing path planning device.

[0045] The beneficial effects of the technical solution provided by this application include at least:

[0046] A non-planar first printing path is formed on the surface of a single-layer object model, and a compensation path is formed in the sparse areas of the first printing path. The compensation path is then homogenized based on dynamic simulation to ensure uniform printing during the non-planar printing process while maintaining the consistency between the path direction and the surface direction, thereby optimizing the printing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] FIG1 is a flow chart of a method for planning a non-planar printing path provided by one embodiment of the present application;

[0049] FIG2 is a flow chart of a method for planning a non-planar printing path provided by one embodiment of the present application;

[0050] FIG3 is a schematic diagram of a single-layer object model provided by one embodiment of the present application;

[0051] FIG4 is a schematic diagram of equally divided contour lines provided by an embodiment of the present application;

[0052] FIG5 is a schematic diagram of a printing order reorganization provided by an embodiment of the present application;

[0053] FIG6 is a schematic diagram of printing path compensation provided by one embodiment of the present application;

[0054] FIG7 is a schematic diagram of selecting a homogenization calculation range according to an embodiment of the present application;

[0055] FIG8 is a schematic diagram of a homogenization process provided by one embodiment of the present application;

[0056] FIG9 is a schematic diagram of a printing path planning result provided by an embodiment of the present application;

[0057] FIG10 is a schematic diagram of path homogenization provided by one embodiment of the present application;

[0058] FIG11 is a schematic diagram of a distance frequency distribution of a preliminary non-planar printing path planning according to an embodiment of the present application;

[0059] FIG12 is a schematic diagram of distance frequency distribution after path compensation and homogenization provided by one embodiment of the present application;

[0060] FIG13 is a schematic diagram of a printing test result provided by an embodiment of the present application;

[0061] FIG14 is a schematic diagram of a printing simulation result provided by one embodiment of the present application;

[0062] FIG15 is a structural block diagram of a non-planar printing path planning device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0064] As shown in FIG1 , it shows a method flow chart of a non-planar printing path planning method provided by an embodiment of the present application, which can be applied to a computer device. The non-planar printing path planning method may include:

[0065] Step 101: Obtain a single-layer object model to be printed.

[0066] The computer device may obtain a single-layer object model input by a user, where the single-layer object model may be a 3D model of any shape.

[0067] Step 102: Generate a first printing path for the single-layer object model.

[0068] The computer device can generate distance field values ​​based on the single-layer object model, and then generate equally divided contour lines based on the distance field values, and use the equally divided contour lines to form a non-planar first printing path on the surface of the single-layer object model.

[0069] Step 103: generating a compensation path according to the sparse portion in the first printing path.

[0070] The computer device can search for sparse areas in the first printing path, and add some equally divided contour lines in the sparse areas to form a compensation path.

[0071] Step 104 : uniformizing the compensation path using a dynamic model to obtain a second printing path. The second printing path tends to be uniformly distributed in distance during the simulated extrusion process.

[0072] In the compensation path, the distances between its parts are too close. The computer equipment needs to use Kangaroo, a dynamic simulation plug-in of Grasshopper, to simulate the path generation and make the path uniform.

[0073] Step 105 : Determine the printing direction of each node on the second printing path to obtain a final non-planar printing path.

[0074] The computer device can form the printing direction of each node on the path according to the specific situation of the single-layer object model, and then connect the paths from beginning to end according to the printing direction to form the final non-planar printing path.

[0075] In summary, the non-planar printing path planning method provided in the embodiment of the present application forms a non-planar first printing path on the surface of a single-layer object model, forms a compensation path in the sparse parts of the first printing path, and homogenizes the compensation path based on dynamic simulation to ensure that the non-planar printing process is uniformly printed under the premise that the path direction and the surface direction are consistent, thereby optimizing the printing effect.

[0076] As shown in FIG2 , it shows a flow chart of a method for planning a non-planar printing path provided by an embodiment of the present application, which can be applied to a computer device. The method for planning a non-planar printing path may include:

[0077] Step 201: Obtain a single-layer object model to be printed.

[0078] The computer device may obtain a single-layer object model input by a user, where the single-layer object model may be a 3D model of any shape.

[0079] Step 202: Generate a first printing path for the single-layer object model.

[0080] The computer device can generate distance field values ​​based on the single-layer object model, and then generate equally divided contour lines based on the distance field values, and use the equally divided contour lines to form a non-planar first printing path on the surface of the single-layer object model.

[0081] Specifically, generating a first printing path for a single-layer object model may include the following sub-steps:

[0082] (1) Uniformly triangulate the single-layer object model and generate a distance field function for each vertex of the mesh.

[0083] Taking the single-layer object model as Figure 3(a) as an example, it is uniformly triangulated to obtain Figure 3(b).

[0084] Generating a distance field function for each vertex of the mesh may include: obtaining the upper and lower edges of the meshed single-layer object model; calculating, for each vertex in the mesh, the shortest distance from the vertex to the upper and lower edges along the mesh line; and calculating the distance field value corresponding to each vertex based on the shortest distance to obtain the distance field function.

[0085] As shown in Figure 3(c), assuming that the upper edge includes Cy1 and Cy2, the lower edge includes Cx1, and a vertex in the grid is recorded as Vi, then the shortest distance x from Vi to the upper and lower edges along the grid line can be calculated.i and y i , calculate the distance field value corresponding to Vi according to the following formula:

[0086] in,

[0087] The discrete distance field value is mapped to each vertex to obtain the distance field function.

[0088] Optionally, the computer device may also convert the distance field function value into a color label, that is, form an approximate image of the surface distance field u on the mesh surface, as shown in FIG3( d ).

[0089] (2) Use the interpolation method to extract the equally divided contour lines of the distance field function.

[0090] Among them, using the interpolation method to extract the equally divided contour lines of the distance field function can include: dividing the predetermined constant value into N equal parts to obtain N+1 values, N≥1; for each value, searching for a line segment in the first printing path whose distance field function values ​​at two endpoints are between the values, using the interpolation method to obtain interpolation points in the line segment, connecting all the interpolation points, and obtaining the equally divided contour lines corresponding to the value.

[0091] Assume that the expected printing layer height is input as h, and the number of printing layers required is Then the equation of the N+1 layer equally divided contour line is obtained:

[0092] When the value When , the computer device can traverse the first printing path and find a line segment whose distance field function values ​​of the two endpoints are between C. That is, the distance field function value of one endpoint of the line segment is ≥ C, and the distance field function value of the other endpoint is ≤ C. Then, the computer device uses the interpolation method to obtain interpolation points in the line segment, connects all the interpolation points, and obtains Similarly, the above method can be used to generate other equally divided contour lines for other values, as shown in Figure 4.

[0093] Assume that the line segment Px on the grid i Py i Satisfy u(Py i )≥C and u(Px i )≤C, then there exists an interpolation point denoted as Pi, which needs to satisfy:

[0094] Where, (i=0, 1…, m).

[0095] (3) Arrange the printing order according to the equally divided isovalue lines to obtain the first printing path.

[0096] When sorting the equally divided contour lines for the first time, the equally divided contour lines to be printed are set to be consistent with the printing direction of the previous step; when recombining and sorting the equally divided contour lines, the printing order of the sorted equally divided contour lines is arranged according to the rule of least air time during the printing process to obtain the first printing path, as shown in Figure 5.

[0097] Step 203: Generate a compensation path according to the sparse area in the first printing path.

[0098] The computer device can search for sparse areas in the first printing path, and add some equally divided contour lines in the sparse areas to form a compensation path.

[0099] Specifically, generating a compensation path based on sparse areas in the first printing path may include: searching for sparse areas in the first printing path whose distance from the underlying layer is greater than a threshold; forming a double-layer contour line segment at the location of the sparse areas using a distance field function; connecting the contour line segments end to end to form a loop; and connecting and softening the loop according to the direction of the first printing path to obtain a compensation path, as shown in FIG6 .

[0100] The threshold can be set based on empirical values. For example, if the distance from the lower layer is 2 layers high, it is determined to be a sparse area and an equal-division contour line should be added; if the distance from the lower layer is 1.5 layers high, the need for an equal-division contour line should be re-determined based on the actual printing results.

[0101] In the compensation path, the distances between its parts are too close. The computer equipment needs to use Kangaroo, a dynamic simulation plug-in of Grasshopper, to simulate the path generation and make the path uniform.

[0102] Step 204 : Acquire the compensation path and the path polylines within a certain range around it to obtain a first path polyline.

[0103] To reduce calculation time, the computer device only selects the compensation path and the path polyline within a certain range around it, which is recorded as the first path polyline pathA for calculation, as shown in Figure 7. The range can be set according to actual needs and is not detailed here.

[0104] Step 205 : Acquire other path polylines within a certain range around the first path polyline to obtain a second path polyline. The second path polyline is used to fix the movement range of the first path polyline.

[0105] The second path polyline is the outer polyline of the first path polyline, ensuring that the first path polyline moves within a certain range of motion to avoid affecting other paths. The range can be set according to actual needs and will not be detailed here.

[0106] Step 206 : uniformizing the first path polyline using the dynamic model and the second path polyline to obtain a second printing path. The second printing path tends to be evenly distributed in distance during the simulated extrusion process.

[0107] Specifically, using the dynamic model and the second path polyline to homogenize the first path polyline to obtain the second printing path can include: assigning the "collider" property to the segments and endpoints of the first path polyline and the second path polyline; assigning forces to the nodes on the first path polyline when they approach the mesh surface, where the mesh surface is obtained by triangulating a single-layer object model; assigning angle elasticity to the first path polyline and length elasticity to each of its segments; and using the dynamic model to calculate the assigned first path polyline and the second path polyline to obtain the second printing path.

[0108] During the homogenization process, it is necessary to ensure that the nodes in the second path polyline remain fixed.

[0109] The purpose of assigning the line segments and endpoints of the first path polyline and the second path polyline collider properties is to make the collision body radius related to the printing layer spacing.

[0110] The dynamic simulation plug-in Kangaroo can generate simulation paths based on the above three assignments to make the paths uniform, as shown in Figure 8.

[0111] Step 207 : Determine the printing direction of each node on the second printing path to obtain a final non-planar printing path.

[0112] The computer device can form the printing direction of each node on the path according to the specific situation of the single-layer object model, and then connect the paths from beginning to end according to the printing direction to form the final non-planar printing path, as shown in Figure 9.

[0113] In summary, the non-planar printing path planning method provided in the embodiment of the present application forms a non-planar first printing path on the surface of a single-layer object model, forms a compensation path in the sparse parts of the first printing path, and homogenizes the compensation path based on dynamic simulation to ensure that the non-planar printing process is uniformly printed under the premise that the path direction and the surface direction are consistent, thereby optimizing the printing effect.

[0114] The optimization effect of path compensation and homogenization on non-planar printing is verified by quantitative analysis and experimental means.

[0115] For the preliminary non-planar printing path shown in FIG10( a ), the frequency distribution of the distances from n equally divided points on the printing path to the path below is statistically analyzed to obtain the distance frequency distribution of the preliminary non-planar printing path planning shown in FIG11 .

[0116] Assuming the retained ratio of the compensation path is n, the path compensation results (Figures 10b, c, d) and the homogenization results (Figures 10e, f, g) are generated, and the frequency distribution (Figure 12) is statistically analyzed. The frequency of the compensation path decreases significantly over a larger distance range. After homogenization, the distribution of its distance values ​​is significantly concentrated within a certain range, demonstrating that the non-planar printing path is more uniform. In the above comparison, when n = 2 / 3, the printing path uniformity is more ideal.

[0117] Based on the corresponding path compensation and path homogenization results, printing test results ( FIG. 13 ) and printing simulation results ( FIG. 14 ) of different types of objects are generated.

[0118] As shown in FIG15 , it shows a structural block diagram of a non-planar printing path planning device provided by an embodiment of the present application, which can be applied to a computer device. The non-planar printing path planning device may include:

[0119] An acquisition module 1510 is used to acquire a single-layer object model to be printed;

[0120] A generating module 1520 is configured to generate a first printing path for a single-layer object model;

[0121] The generating module 1520 is further configured to generate a compensation path according to the sparse portion in the first printing path;

[0122] A processing module 1530 is configured to perform a uniform processing on the compensation path using a dynamic model to obtain a second printing path, wherein the second printing path tends to be uniformly distributed in distance during the simulated extrusion process;

[0123] The planning module 1540 is used to determine the printing direction of each node on the second printing path to obtain a final non-planar printing path.

[0124] In an optional embodiment, the processing module 1530 is further configured to:

[0125] Obtain the compensation path and the path polylines within a certain range around it to obtain a first path polyline;

[0126] Obtain other path polylines within a certain range around the first path polyline to obtain a second path polyline, where the second path polyline is used to fix the movement range of the first path polyline;

[0127] The first path polyline is homogenized using the dynamic model and the second path polyline to obtain a second printing path.

[0128] In an optional embodiment, the processing module 1530 is further configured to:

[0129] Assign the line segments and endpoints of the first and second path polylines the "collider" property;

[0130] Assigning a force to the nodes on the first path polyline to approach the mesh surface, where the mesh surface is obtained by triangulating the single-layer object model;

[0131] Give the first path polyline angle elasticity and each of its segments length elasticity;

[0132] The dynamic model is used to calculate the assigned first path polyline and second path polyline to obtain a second printing path.

[0133] In an optional embodiment, the generating module 1520 is further configured to:

[0134] Searching for a sparse portion in the first printing path whose distance to the underlying layer is greater than a threshold;

[0135] At the location of the sparse part, the distance field function is used to form the contour line fragments of the double layer;

[0136] Connect the contour line segments end to end to form a loop;

[0137] The loop is connected and softened according to the direction of the first printing path to obtain a compensation path.

[0138] In an optional embodiment, the generating module 1520 is further configured to:

[0139] Perform uniform triangulation on the single-layer object model and generate a distance field function for each vertex of the mesh;

[0140] Use interpolation method to extract the equally divided contour lines of the distance field function;

[0141] The printing order is arranged according to the equally divided isovalue lines to obtain a first printing path.

[0142] In an optional embodiment, the generating module 1520 is further configured to:

[0143] Get the upper and lower edges of the meshed single-layer object model;

[0144] For each vertex in the grid, calculate the shortest distance from the vertex to the upper and lower edges along the grid line;

[0145] The distance field value corresponding to each vertex is calculated according to the shortest distance to obtain the distance field function.

[0146] In an optional embodiment, the generating module 1520 is further configured to:

[0147] Divide the predetermined constant value into N equal parts to obtain N+1 values, where N≥1;

[0148] For each value, a line segment whose distance field function values ​​of the two endpoints are between the values ​​is found in the first printing path, and interpolation points in the line segment are obtained by interpolation. All interpolation points are connected to obtain equally divided contour lines corresponding to the value.

[0149] In summary, the non-planar printing path planning device provided in the embodiment of the present application forms a non-planar first printing path on the surface of a single-layer object model, forms a compensation path in a sparse part of the first printing path, and homogenizes the compensation path based on dynamic simulation to ensure that the non-planar printing process is uniformly printed under the premise that the path direction and the surface direction are consistent, thereby optimizing the printing effect.

[0150] One embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the above-mentioned method for planning a non-planar printing path.

[0151] One embodiment of the present application provides a computer device, which includes a planning device for any non-planar printing path described above.

[0152] It should be noted that: the non-planar printing path planning device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate when planning the non-planar printing path. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the non-planar printing path planning device is divided into different functional modules to complete all or part of the functions described above. In addition, the non-planar printing path planning device provided in the above embodiment and the non-planar printing path planning method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0153] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0154] The above description is not intended to limit the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A method for planning a non-planar printing path, characterized in that: The method comprises: Get a single-layer object model to be printed; generating a first printing path for the single-layer object model; generating a compensation path according to the sparse parts in the first printing path; The compensation path is homogenized by using a dynamic model to obtain a second printing path, wherein the second printing path tends to be evenly distributed in distance during the simulated extrusion process; The printing direction of each node on the second printing path is determined to obtain a final non-planar printing path.

2. The method for planning a non-planar printing path according to claim 1, characterized in that: The method of using a dynamic model to homogenize the compensation path to obtain a second printing path includes: Acquire the compensation path and a path polyline within a certain range around it to obtain a first path polyline; Acquire other path polylines within a certain range around the first path polyline to obtain a second path polyline, where the second path polyline is used to fix the movement range of the first path polyline; The first path polyline is homogenized by using the dynamics model and the second path polyline to obtain a second printing path.

3. The method for planning a non-planar printing path according to claim 2, characterized in that: The step of using the dynamic model and the second path polyline to homogenize the first path polyline to obtain the second printing path includes: Assigning the line segments and endpoints of the first path polyline and the second path polyline a "collider" property; imparting a force to nodes on the first path polyline to approach a mesh surface, wherein the mesh surface is obtained by triangulating the single-layer object model; Granting the first path polyline angle elasticity and each of its line segments length elasticity; The first path polyline and the second path polyline after the assignment are calculated using the dynamic model to obtain a second printing path.

4. The method for planning a non-planar printing path according to claim 1, characterized in that: The generating a compensation path according to the sparse parts in the first printing path includes: Searching for a sparse part in the first printing path whose distance to the lower layer is greater than a threshold value; At the location of the sparse part, a distance field function is used to form a double-layer contour line segment; Connecting the contour line segments end to end to form a loop; The loop is connected and softened according to the direction of the first printing path to obtain a compensation path.

5. The method for planning a non-planar printing path according to any one of claims 1 to 4, characterized in that: The step of generating a first printing path for the single-layer object model comprises: Uniformly triangulating the single-layer object model, and generating a distance field function for each vertex of the mesh; Extracting equally divided contour lines of the distance field function by using an interpolation method; The printing order is arranged according to the equally divided isovalue lines to obtain a first printing path.

6. The method for planning a non-planar printing path according to claim 5, characterized in that: The generating of a distance field function for each vertex of the mesh comprises: Obtaining upper and lower edges of the single-layer object model after meshing; For each vertex in the grid, calculate the shortest distance from the vertex to the upper and lower edges along the grid line respectively; The distance field value corresponding to each vertex is calculated according to the shortest distance to obtain a distance field function.

7. The method for planning a non-planar printing path according to claim 5, characterized in that: The step of extracting equally divided contour lines of the distance field function by using an interpolation method comprises: Divide the predetermined constant value into N equal parts to obtain N+1 values, where N≥1; For each value, a line segment between the distance field function values ​​of two endpoints is searched in the first printing path, interpolation points in the line segment are obtained by interpolation, and all interpolation points are connected to obtain equally divided contour lines corresponding to the value.

8. A device for planning a non-planar printing path, characterized in that: The device comprises: An acquisition module, used for acquiring a single-layer object model to be printed; A generating module, used for generating a first printing path for the single-layer object model; The generating module is further used to generate a compensation path according to the sparse parts in the first printing path; A processing module, configured to perform a homogenization process on the compensation path by using a dynamic model to obtain a second printing path, wherein the second printing path tends to be evenly distributed in distance during a simulated extrusion process; A planning module is used to determine the printing direction of each node on the second printing path to obtain a final non-planar printing path.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the method for planning a non-planar printing path as described in any one of claims 1 to 8.

10. A computer device, characterized in that: The computer device comprises: the non-planar printing path planning device described in claim 8.

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