Printing path planning method and apparatus for object model, storage medium, and device

Abstract

The present application relates to the technical field of 3D printing, and discloses a printing path planning method and apparatus for an object model, a storage medium, and a device. The method comprises: acquiring a single-layer object model to be printed; vertically and uniformly segmenting the single-layer object model, and determining a printing sequence of components obtained after segmenting, so that a print head in a printing device does not collide with the printed portion in the process of printing the components according to the printing sequence; generating vertical printing paths of the components; and performing overall planning on the vertical printing paths of the components according to the printing sequence to obtain a printing path of the single-layer object model. According to the present application, the single-layer object model is vertically and uniformly segmented, and then the obtained components are subjected to vertical printing. In this way, a non-printing travel path can be reduced in a vertical printing manner, thereby shortening the printing time.

Description

Method, device, storage medium and equipment for printing path planning of object model Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to a printing path planning method, apparatus, storage medium, and equipment for an object model. Background Art

[0002] When 3D printing a single-layer object model, the entire single-layer object model is usually taken as a whole, and the printing path of the cross section of the single-layer object model is planned in sequence from bottom to top to obtain the final printing path.

[0003] When a single-layer object model contains disconnected parts (such as the multiple pillars in FIG1 ), the above printing path will include many empty print paths, resulting in a longer printing time. Summary of the Invention

[0004] This application provides a method, apparatus, storage medium, and device for planning the printing path of an object model, which are used to solve the problem of many empty printing paths and long printing times when planning the path of the entire cross-section of a single-layer object model. The technical solution is as follows:

[0005] According to a first aspect of the present application, a method for planning a printing path of an object model is provided, the method comprising:

[0006] Get the single-layer object model to be printed;

[0007] Cutting the single-layer object model uniformly longitudinally and determining a printing order for the components obtained after the cutting so that a print head in a printing device does not collide with already printed parts during the process of printing the components in the printing order;

[0008] Generate vertical printing paths for each component;

[0009] The longitudinal printing paths of the various components are planned as a whole according to the printing sequence to obtain the printing path of the single-layer object model.

[0010] In a possible implementation, determining the printing order of the components obtained after cutting includes:

[0011] sorting the component sets obtained after cutting in order from bottom to top, wherein the component sets include the components located under the same cutting plane after cutting;

[0012] For each component set, the components in the component set are sorted in descending order of distance from the printing device to obtain a printing order.

[0013] In a possible implementation, the uniformly cutting the single-layer object model longitudinally includes:

[0014] Get the preset i-th cutting height, where i is a positive integer;

[0015] Simulating cutting of the single-layer object model according to the i-th cutting height, and calculating the distance between the two nearest points of each component located below the i-th cutting plane after the simulated cutting;

[0016] If the distance value is less than a preset distance threshold, adjusting the i-th cutting height until the distance value corresponding to the i-th cutting height is greater than or equal to the preset distance threshold, and then cutting the single-layer object model at the i-th cutting height;

[0017] Update i to i+1, and continue to execute the step of obtaining the preset i-th cutting height until the single-layer object model is cut.

[0018] In a possible implementation, generating a longitudinal printing path for each component includes:

[0019] Get the shortest printing time corresponding to the printing path of the cross section of each component;

[0020] If the shortest printing time is less than the solidification time of the printing material, a longitudinal printing path of each component is generated based on the solidification time.

[0021] In a possible implementation, generating a longitudinal printing path of each component based on the solidification time includes:

[0022] For each component, a printing path for each cross section of the component is generated in order from bottom to top, and a waiting time is set for a printing path whose printing time is less than the solidification time, to obtain a longitudinal printing path, wherein the sum of the printing time and the waiting time is greater than or equal to the solidification time.

[0023] In a possible implementation, generating a longitudinal printing path of each component based on the solidification time includes:

[0024] For each component, if the shortest printing time corresponding to the component is greater than or equal to the solidification time, a printing path for each cross section of the component is generated in order from bottom to top;

[0025] If the shortest printing time corresponding to the component is less than the solidification time, the component and the components arranged after the component are combined into a print body, and a printing path for each cross section in the print body is generated in order from bottom to top to obtain a longitudinal printing path, wherein the shortest printing time corresponding to the printing path for each cross section in the print body is greater than or equal to the solidification time.

[0026] In a possible implementation, the overall planning of the longitudinal printing paths of the components according to the printing sequence to obtain the printing path of the single-layer object model includes:

[0027] Searching for a sparse portion in the printing path that is at a distance from the underlying layer greater than a corresponding cutting height;

[0028] At the location of the sparse part, a double-layer contour line segment is formed using the distance value;

[0029] Connecting the contour line segments end to end to form a loop;

[0030] Connecting and softening the loop according to the direction of the printing path to obtain a compensation path;

[0031] The longitudinal printing paths of the components and the compensation paths are planned as a whole according to the printing sequence to obtain the printing path of the single-layer object model.

[0032] According to a second aspect of the present application, a printing path planning device for an object model is provided, the device comprising:

[0033] An acquisition module, used to obtain a single-layer object model to be printed;

[0034] a cutting module, configured to uniformly cut the single-layer object model longitudinally and determine a printing order for the components obtained after cutting, so that a print head in a printing device does not collide with already printed parts during the process of printing the components in the printing order;

[0035] A generation module, used to generate a longitudinal printing path for each component;

[0036] The generating module is further configured to plan the longitudinal printing paths of the components as a whole according to the printing sequence to obtain the printing path of the single-layer object model.

[0037] 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 printing path planning method for the object model as described above.

[0038] According to a fourth aspect of the present application, a printing device is provided, which includes the printing path planning device of the above-mentioned object model.

[0039] The beneficial effects of the technical solution provided by this application include at least:

[0040] By uniformly cutting the single-layer object model longitudinally and determining the printing order of the various components obtained after cutting, the longitudinal printing path of each component is generated; finally, the longitudinal printing paths of each component are comprehensively planned according to the printing order to obtain the final printing path. In this way, the empty printing path can be reduced by printing in longitudinal direction, thereby reducing the printing time.

[0041] When the shortest printing time corresponding to the cross-sectional printing path of each component is less than the solidification time of the printing material, a longitudinal printing path for each component is generated based on the solidification time, ensuring that the material will not collapse during the printing process due to incomplete solidification, thereby improving the printing quality.

[0042] The sparse areas are determined based on the comparison between the distance between the upper and lower layers and the cutting height, and a compensation path for the sparse areas is generated, thereby improving the printing quality by compensating for the sparse areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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.

[0044] FIG1 is a schematic diagram of a printing path of an object model in the related art;

[0045] FIG2 is a flow chart of a method for planning a printing path for an object model provided by one embodiment of the present application;

[0046] FIG3 is a schematic diagram of cutting a single-layer object model provided by one embodiment of the present application;

[0047] FIG4 is a schematic diagram of a printing path of an object model provided in one embodiment of the present application;

[0048] FIG5 is a schematic diagram of a printing path of an object model provided in one embodiment of the present application;

[0049] FIG6 is a flowchart of a method for planning a printing path for an object model according to an embodiment of the present application;

[0050] FIG7 is a schematic diagram of the printing order of the first layer components provided in one embodiment of the present application;

[0051] FIG8 is a schematic diagram of the printing sequence of the second layer components provided in one embodiment of the present application;

[0052] FIG9 is a schematic diagram of the printing sequence of the third layer component provided in one embodiment of the present application;

[0053] FIG10 is a schematic diagram of the printing order of the fourth layer component provided in one embodiment of the present application;

[0054] FIG11 is a schematic diagram of the printing order of the fifth layer component provided in one embodiment of the present application;

[0055] FIG12 is a structural block diagram of a printing path planning device for an object model provided in one embodiment of the present application. DETAILED DESCRIPTION

[0056] 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.

[0057] As shown in FIG2 , it shows a method flow chart of a printing path planning method for an object model provided by an embodiment of the present application. The printing path planning method for an object model can be applied to a printing device. The printing path planning method for an object model may include:

[0058] Step 201: Obtain a single-layer object model to be printed.

[0059] The printing device may obtain a single-layer object model input by a user, and the single-layer object model may be a 3D model of any shape.

[0060] In step 202 , the single-layer object model is cut uniformly longitudinally, and the printing order of the components obtained after cutting is determined so that the print head in the printing device will not collide with the printed parts during the process of printing the components in the printing order.

[0061] For a single-layer object model, the printing device can obtain a preset cutting height and cut the single-layer object model vertically based on the cutting height. The cutting height can be an empirical value or can be obtained by adjusting the empirical value based on the actual single-layer object model, which is not limited in this embodiment.

[0062] Figure 3(a) shows a single-layer object model, and Figures 3(b)-(d) show uniform cutting of the single-layer object model. After the first cutting of the single-layer object model, a gray component set under the first cutting plane is obtained; after the second cutting of the single-layer object model, a light gray component set under the second cutting plane is obtained; after the third cutting of the single-layer object model, a black component set under the third cutting plane is obtained; after the fourth cutting of the single-layer object model, a medium gray component set under the fourth cutting plane and a dark gray component set on the fourth cutting plane are obtained.

[0063] Considering the need to avoid collisions between the print head and the printed part during printing, the printing device can set the printing order for each part based on the above principle. For example, parts that are farther from the print head are printed first, and parts that are closer to the print head are printed later.

[0064] Step 203: Generate a vertical printing path for each component.

[0065] For each component, the printing device may generate a printing path for each cross section of the component in order from bottom to top to obtain a longitudinal printing path for the component.

[0066] Step 204 : Plan the longitudinal printing paths of the components as a whole according to the printing sequence to obtain the printing path of the single-layer object model.

[0067] The printing device forms the printing direction of each component according to the specific conditions of the single-layer object model, and then connects the longitudinal printing paths of each component end to end according to the printing order to obtain the final printing path.

[0068] 4 and 5 show the printing paths generated according to the planning method in this embodiment. Compared with the printing path shown in FIG. 1 , this embodiment can greatly reduce the number of empty printing paths, thereby reducing the printing time.

[0069] In summary, the printing path planning method for an object model provided in an embodiment of the present application performs longitudinal uniform cutting of a single-layer object model and determines the printing order of the components obtained after cutting; then, a longitudinal printing path for each component is generated; finally, the longitudinal printing paths of each component are planned as a whole according to the printing order to obtain the final printing path. In this way, the empty printing path can be reduced by longitudinal printing, thereby reducing the printing time.

[0070] As shown in Figure 6, it shows a flow chart of a method for planning a printing path for an object model provided by an embodiment of the present application. The method for planning a printing path for an object model can be applied to a printing device. The method for planning a printing path for an object model can include:

[0071] Step 601: Obtain a single-layer object model to be printed.

[0072] The printing device may obtain a single-layer object model input by a user, and the single-layer object model may be a 3D model of any shape.

[0073] Step 602 : Cut the single-layer object model evenly in the longitudinal direction.

[0074] For a single-layer object model, the printing device can obtain a preset cutting height and cut the single-layer object model vertically based on the cutting height. The cutting height can be a fixed empirical value or can be obtained by adjusting the empirical value based on the actual single-layer object model, which is not limited in this embodiment.

[0075] If the cutting height is a fixed empirical value, the printing device can cut the single-layer object model based on the cutting height in order from bottom to top.

[0076] If the cutting height requires adjustment based on an empirical value, the printing device may obtain a preset i-th cutting height, where i is a positive integer; simulate cutting a single-layer object model based on the i-th cutting height, and calculate the distance between the two nearest points of each component located below the i-th cutting plane after the simulated cutting; if the distance value is less than a preset distance threshold, adjust the i-th cutting height until the distance value corresponding to the i-th cutting height is greater than or equal to the preset distance threshold, and then cut the single-layer object model at the i-th cutting height; update i to i+1, and continue to execute the steps of obtaining the preset i-th cutting height until the single-layer object model is cut. The preset distance threshold is a distance value that ensures that the print head does not collide with the printed portion while printing each component in the printing order.

[0077] Specifically, the printing device calculates the value corresponding to each pair of points Vi, taking the minimum value that satisfies minD(Vi) < N, where N is the minimum distance tolerance, or the preset distance threshold. The printing device then maps the discrete distance function values ​​to each point and converts them into color labels, creating the image shown in Figure 3(d).

[0078] Simply put, during each cutting, the printing device first simulates cutting according to the preset cutting height. If the cutting will cause the print head to collide with the printed part, the cutting height will be adjusted (increased or decreased) and the simulated cutting will continue at the new cutting height until it is determined that the cutting will not cause the print head to collide with the printed part, and then the real cutting will be performed at the new cutting height.

[0079] Figure 3(a) shows a single-layer object model, and Figures 3(b)-(d) show uniform cutting of the single-layer object model. After the first cutting of the single-layer object model, a gray component set under the first cutting plane is obtained; after the second cutting of the single-layer object model, a light gray component set under the second cutting plane is obtained; after the third cutting of the single-layer object model, a black component set under the third cutting plane is obtained; after the fourth cutting of the single-layer object model, a medium gray component set under the fourth cutting plane and a dark gray component set on the fourth cutting plane are obtained.

[0080] In step 603, the component sets obtained after cutting are sorted in order from bottom to top. The component sets include the components located on the same cutting plane after cutting. For each component set, the components in the component set are sorted in order from far to near from the printing device to obtain a printing order, so that the print head in the printing device will not collide with the printed parts during the process of printing the components in accordance with the printing order.

[0081] Considering the need to avoid collision between the print head and the printed part during the printing process, the printing device can set a printing order for each component based on the above principles.

[0082] The printing device may first sort the component sets, and then sort the individual components within the component sets. Specifically, the printing device may sort the component sets from bottom to top. Still using FIG. 3 as an example, the printing device may sort the component sets in the order of gray component set, light gray component set, black component set, medium gray component set, and dark gray component set.

[0083] For each component set, the printing device can sort the components in descending order of distance from the printing device. For example, in the first layer of gray component sets, four components are sorted according to the printing order shown in Figure 7; in the second layer of light gray component sets, two components are sorted according to the printing order shown in Figure 8; in the third layer of black component sets, six components are sorted according to the printing order shown in Figure 9; in the fourth layer of medium gray component sets, five components are sorted according to the printing order shown in Figure 10; and in the fifth layer of dark gray component sets, two components are sorted according to the printing order shown in Figure 11.

[0084] Step 604: Generate a vertical printing path for each component.

[0085] For each component, the printing device may generate a printing path for each cross section of the component in order from bottom to top to obtain a longitudinal printing path for the component.

[0086] When a part has a small cross-section, the material may not solidify after the printer finishes printing a layer. Continuing to print on top of the unsolidified material can cause collapse. To avoid this, the printer needs to consider the solidification time of the material when planning the print path.

[0087] Specifically, generating a longitudinal printing path for each component may include: obtaining the shortest printing time corresponding to a printing path for a cross section of each component; and if the shortest printing time is less than the solidification time of the printing material, generating a longitudinal printing path for each component based on the solidification time. Two methods for generating a longitudinal printing path are described below.

[0088] (1) For each component, a printing path for each cross section of the component is generated in order from bottom to top, and a waiting time is set for the printing path whose printing time is less than the solidification time to obtain a longitudinal printing path, wherein the sum of the printing time and the waiting time is greater than or equal to the solidification time.

[0089] That is to say, when the printing time of a certain cross section is less than the solidification time, a waiting time is set for it; after the waiting time, the next cross section is printed.

[0090] (2) For each component, if the shortest printing time corresponding to the component is greater than or equal to the solidification time, a printing path for each cross section in the component is generated in order from bottom to top; if the shortest printing time corresponding to the component is less than the solidification time, the component and the components following the component are combined into a print body, and a printing path for each cross section in the print body is generated in order from bottom to top to obtain a longitudinal printing path, wherein the shortest printing time corresponding to the printing path for each cross section in the print body is greater than or equal to the solidification time.

[0091] That is, if the printing time for a certain cross-section of a component layer is shorter than the solidification time, two or more components can be combined into a print volume. The print volume can then be used as a whole, generating the printing path for each cross-section in the volume from bottom to top. For example, if components 1 and 2 are combined into a single print volume, after printing a cross-section of a certain layer in component 1, print the cross-section of the same layer in component 2; then print the cross-section of the previous layer in component 1, and so on.

[0092] Step 605 : Plan the longitudinal printing paths of the components as a whole according to the printing sequence to obtain the printing path of the single-layer object model.

[0093] In this embodiment, the printing device may search for sparse areas in the longitudinal printing path, and add some equally divided contour lines in the sparse areas to form a compensation path.

[0094] Specifically, the longitudinal printing paths of each component are planned as a whole according to the printing order to obtain the printing path of the single-layer object model, which may include: searching for sparse parts in the printing path whose distance from the lower layer is greater than the corresponding cutting height; using the distance value to form a double-layer contour line segment at the location of the sparse part; connecting the contour line segments end to end to form a loop; connecting and softening the loop according to the direction of the printing path to obtain a compensation path; and planning the longitudinal printing path and the compensation path of each component as a whole according to the printing order to obtain the printing path of the single-layer object model.

[0095] The printing device forms the printing direction of each component according to the specific conditions of the single-layer object model, and then connects the longitudinal printing path and compensation path of each component end to end according to the printing order to obtain the final printing path.

[0096] 4 and 5 show the printing paths generated according to the planning method in this embodiment. Compared with the printing path shown in FIG. 1 , this embodiment can greatly reduce the number of empty printing paths, thereby reducing the printing time.

[0097] In summary, the printing path planning method for an object model provided in an embodiment of the present application performs longitudinal uniform cutting of a single-layer object model and determines the printing order of the components obtained after cutting; then, a longitudinal printing path for each component is generated; finally, the longitudinal printing paths of each component are planned as a whole according to the printing order to obtain the final printing path. In this way, the empty printing path can be reduced by longitudinal printing, thereby reducing the printing time.

[0098] When the shortest printing time corresponding to the cross-sectional printing path of each component is less than the solidification time of the printing material, a longitudinal printing path for each component is generated based on the solidification time, ensuring that the material will not collapse during the printing process due to incomplete solidification, thereby improving the printing quality.

[0099] The sparse areas are determined based on the comparison between the distance between the upper and lower layers and the cutting height, and a compensation path for the sparse areas is generated, thereby improving the printing quality by compensating for the sparse areas.

[0100] As shown in Figure 12, it shows a structural block diagram of a printing path planning device for an object model provided by an embodiment of the present application. The printing path planning device for an object model can be applied to a printing device. The printing path planning device for an object model can include:

[0101] An acquisition module 1210 is used to acquire a single-layer object model to be printed;

[0102] The cutting module 1220 is used to evenly cut the single-layer object model longitudinally and determine the printing order of the components obtained after cutting so that the print head in the printing device will not collide with the printed parts during the process of printing the components in the printing order;

[0103] A generating module 1230 is used to generate a longitudinal printing path for each component;

[0104] The generation module 1230 is further configured to plan the longitudinal printing paths of the components as a whole according to the printing sequence to obtain the printing path of the single-layer object model.

[0105] In an optional embodiment, the cutting module 1220 is further configured to:

[0106] Sort the component sets obtained after cutting in order from bottom to top, and the component sets include all components located under the same cutting plane after cutting;

[0107] For each component set, the components in the component set are sorted in descending order of distance from the printing device to obtain a printing order.

[0108] In an optional embodiment, the cutting module 1220 is further configured to:

[0109] Get the preset i-th cutting height, where i is a positive integer;

[0110] Simulate cutting of a single-layer object model according to the i-th cutting height, and calculate the distance between the two nearest points of each component located below the i-th cutting plane after the simulated cutting;

[0111] If the distance value is less than the preset distance threshold, the i-th cutting height is adjusted until the distance value corresponding to the i-th cutting height is greater than or equal to the preset distance threshold, and the single-layer object model is cut at the i-th cutting height;

[0112] Update i to i+1, and continue to execute the step of obtaining the preset i-th cutting height until the single-layer object model is cut.

[0113] In an optional embodiment, the generating module 1230 is further configured to:

[0114] Get the shortest printing time corresponding to the printing path of the cross section of each component;

[0115] If the shortest printing time is less than the solidification time of the printing material, a longitudinal printing path of each component is generated based on the solidification time.

[0116] In an optional embodiment, the generating module 1230 is further configured to:

[0117] For each component, a printing path for each cross section of the component is generated in order from bottom to top, and a waiting time is set for the printing path whose printing time is less than the solidification time to obtain a longitudinal printing path, where the sum of the printing time and the waiting time is greater than or equal to the solidification time.

[0118] In an optional embodiment, the generating module 1230 is further configured to:

[0119] For each component, if the shortest printing time corresponding to the component is greater than or equal to the solidification time, the printing path of each cross section in the component is generated in order from bottom to top;

[0120] If the shortest printing time corresponding to a component is less than the solidification time, the component and the components following it are combined into a print body, and a printing path for each cross section of the print body is generated in order from bottom to top to obtain a longitudinal printing path, wherein the shortest printing time corresponding to the printing path for each cross section of the print body is greater than or equal to the solidification time.

[0121] In an optional embodiment, the generating module 1230 is further configured to:

[0122] Find sparse areas in the printing path whose distance from the lower layer is greater than the corresponding cutting height;

[0123] At the location of the sparse part, the distance value is used to form a double-layer contour line segment;

[0124] Connect the contour line segments end to end to form a loop;

[0125] Connect and soften the loop according to the direction of the printing path to obtain a compensation path;

[0126] The longitudinal printing path and compensation path of each component are planned as a whole according to the printing order to obtain the printing path of the single-layer object model.

[0127] In summary, the printing path planning device for an object model provided in an embodiment of the present application performs longitudinal uniform cutting of a single-layer object model and determines the printing order of the components obtained after cutting; then, a longitudinal printing path for each component is generated; finally, the longitudinal printing paths of each component are planned as a whole according to the printing order to obtain the final printing path. In this way, the empty printing path can be reduced by longitudinal printing, thereby reducing the printing time.

[0128] When the shortest printing time corresponding to the cross-sectional printing path of each component is less than the solidification time of the printing material, a longitudinal printing path for each component is generated based on the solidification time, ensuring that the material will not collapse during the printing process due to incomplete solidification, thereby improving the printing quality.

[0129] The sparse areas are determined based on the comparison between the distance between the upper and lower layers and the cutting height, and a compensation path for the sparse areas is generated, thereby improving the printing quality by compensating for the sparse areas.

[0130] 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 printing path of an object model.

[0131] An embodiment of the present application provides a printing device, which includes a printing path planning device for any of the above-mentioned object models.

[0132] It should be noted that the above-mentioned embodiments of the device for planning the printing path of an object model only illustrate the division of the above-mentioned functional modules when performing printing path planning for the object model. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device for planning the printing path of an object model can be divided into different functional modules to complete all or part of the functions described above. In addition, the device for planning the printing path of an object model provided in the above-mentioned embodiments and the method for planning the printing path of an object model are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0133] 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.

[0134] 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 printing path planning of an object model, characterized in that The method includes: Obtaining a single-layer object model to be printed; Vertically and evenly cutting the single-layer object model, and determining the printing order of each component obtained after cutting, so that the print head in the printing device will not collide with the printed part during the process of printing each component according to the printing order; Generating a vertical printing path for each component; Overall planning the vertical printing paths of each component according to the printing order to obtain the printing path of the single-layer object model.

2. The printing path planning method for the object model according to claim 1, wherein The determining the printing order of each component obtained after cutting includes: Sorting the sets of each component obtained after cutting in ascending order from bottom to top, where the set of components includes each component located under the same cutting plane after cutting; For each set of components, sorting the components in the set of components in descending order from far to near the printing device to obtain the printing order.

3. The printing path planning method for the object model according to claim 1, wherein The vertically and evenly cutting the single-layer object model includes: Obtaining a preset i-th cutting height, where i is a positive integer; Simulating the cutting of the single-layer object model according to the i-th cutting height, and calculating the distance value between the two closest points among the components located under the i-th cutting plane after the simulated cutting; If the distance value is less than a preset distance threshold, adjusting the i-th cutting height until the distance value corresponding to the i-th cutting height is greater than or equal to the preset distance threshold, and then cutting the single-layer object model at the i-th cutting height; Updating i to i + 1, and continuing to execute the step of obtaining the preset i-th cutting height until the single-layer object model is completely cut and then stopping.

4. The printing path planning method for the object model according to claim 1, characterized in that The generating a vertical printing path for each component includes: Obtaining the shortest printing time corresponding to the printing path of the cross-section in each component; If the shortest printing time is less than the solidification time of the printing material, generating a vertical printing path for each component based on the solidification time.

5. The printing path planning method for the object model according to claim 4, characterized in that, The generating a vertical printing path for each component based on the solidification time includes: For each component, generating the printing path of each cross-section in the component in ascending order from bottom to top, and setting a waiting time for the printing path with a printing time less than the solidification time to obtain a vertical printing path, where the sum of the printing time and the waiting time is greater than or equal to the solidification time.

6. The printing path planning method for the object model according to claim 4, characterized in that, The generating a vertical printing path for each component based on the solidification time includes: For each component, if the shortest printing time corresponding to the component is greater than or equal to the solidification time, generating the printing path of each cross-section in the component in ascending order from bottom to top; If the shortest printing time corresponding to the component is less than the solidification time, forming the component and the components arranged after the component into a printing body, and generating the printing path of each cross-section in the printing body in ascending order from bottom to top to obtain a vertical printing path, where the shortest printing time corresponding to the printing path of each cross-section in the printing body is greater than or equal to the solidification time.

7. The printing path planning method for the object model according to any one of claims 1 to 6, characterized in that The overall planning the vertical printing paths of each component according to the printing order to obtain the printing path of the single-layer object model includes: Find a sparse part in the printing path whose distance from the lower layer is greater than the corresponding cutting height; At the position of the sparse part, form a double-layer contour line segment using the distance values; Connect the head and tail of the contour line segment to form a loop; Connect and soften the loop according to the direction of the printing path to obtain a compensation path; Overall plan the longitudinal printing paths of each component and the compensation path according to the printing order to obtain the printing path of the single-layer object model.

8. A printing path planning device for an object model, characterized in that The device includes: An acquisition module for acquiring a single-layer object model to be printed; A cutting module for uniformly cutting the single-layer object model longitudinally and determining the printing order of each component obtained after cutting, so that the print head in the printing device does not collide with the printed part during the process of printing each component according to the printing order; A generation module for generating the longitudinal printing paths of each component; The generation module is further configured to overall plan the longitudinal printing paths of each component according to the printing order to obtain the printing path of the single-layer object model.

9. A computer-readable storage medium, characterized in that, At least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the printing path planning method of the object model according to any one of claims 1 to 8.

10. A printing device, characterized in that, The printing device includes: the printing path planning device of the object model according to claim 8.

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