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A platform for research: civil engineering, architecture and urbanism
Spatial path fitting method and system for concrete 3D printing
The invention relates to a spatial path fitting method and system for concrete 3D printing. At present, there is no special space path planning method for concrete 3D printing. The method comprises the following steps: establishing a printing model and a world coordinate system; slicing and layering the printing model to obtain a path point sequence of each layer of model; extracting a normal vector Z of the slice model, constructing an inter-point vector of two adjacent points, and solving a normal vector Y of a plane constructed by the normal vector Z and the inter-point vector; constructing a base plane P containing a normal vector Y and an inter-point vector; determining an Euler rotation matrix T according to the robot tool end coordinate, and performing coordinate transformation on the base plane P to obtain a space path point sequence under the robot tool end coordinate system; and controlling the posture of the printing head based on the coordinate information of the spatial path point sequence. According to the scheme, spatial layering is carried out according to the characteristics of the concrete model, and the capacity of printing any complex concrete structure is improved, so the flexible requirement of concrete multi-freedom-degree 3D printing is met.
本发明涉及一种面向混凝土3D打印的空间路径拟合方法及系统。目前鲜有专门针对混凝土3D打印的空间路径规划方法。本方法建立打印模型,建立世界坐标系；对打印模型进行切片分层，获得各层模型路径点序；提取切片模型的法向量Z，构建相邻两点的点间矢量，求解法向量Z和点间矢量所构建平面的法向量Y；构建包含法向量Y和点间矢量的基平面P；根据机器人工具端坐标确定欧拉旋转矩阵T，对基平面P进行坐标变换，得到机器人工具端坐标系下的空间路径点序；基于空间路径点序的坐标信息控制打印头姿态。该方案根据混凝土模型的特点进行空间分层，提升打印任意复杂的混凝土结构的能力，从而满足了混凝土多自由度3D打印的灵活要求。
Spatial path fitting method and system for concrete 3D printing
The invention relates to a spatial path fitting method and system for concrete 3D printing. At present, there is no special space path planning method for concrete 3D printing. The method comprises the following steps: establishing a printing model and a world coordinate system; slicing and layering the printing model to obtain a path point sequence of each layer of model; extracting a normal vector Z of the slice model, constructing an inter-point vector of two adjacent points, and solving a normal vector Y of a plane constructed by the normal vector Z and the inter-point vector; constructing a base plane P containing a normal vector Y and an inter-point vector; determining an Euler rotation matrix T according to the robot tool end coordinate, and performing coordinate transformation on the base plane P to obtain a space path point sequence under the robot tool end coordinate system; and controlling the posture of the printing head based on the coordinate information of the spatial path point sequence. According to the scheme, spatial layering is carried out according to the characteristics of the concrete model, and the capacity of printing any complex concrete structure is improved, so the flexible requirement of concrete multi-freedom-degree 3D printing is met.
本发明涉及一种面向混凝土3D打印的空间路径拟合方法及系统。目前鲜有专门针对混凝土3D打印的空间路径规划方法。本方法建立打印模型,建立世界坐标系；对打印模型进行切片分层，获得各层模型路径点序；提取切片模型的法向量Z，构建相邻两点的点间矢量，求解法向量Z和点间矢量所构建平面的法向量Y；构建包含法向量Y和点间矢量的基平面P；根据机器人工具端坐标确定欧拉旋转矩阵T，对基平面P进行坐标变换，得到机器人工具端坐标系下的空间路径点序；基于空间路径点序的坐标信息控制打印头姿态。该方案根据混凝土模型的特点进行空间分层，提升打印任意复杂的混凝土结构的能力，从而满足了混凝土多自由度3D打印的灵活要求。
Spatial path fitting method and system for concrete 3D printing
面向混凝土3D打印的空间路径拟合方法及系统
YAO XIAOFEI (author) / BAI SONGLIN (author) / TIAN GUO (author) / LIU SHENGJUN (author) / WU QING (author) / WANG BOLIN (author) / LIU SHILONG (author)
2022-02-22
Patent
Electronic Resource
Chinese
IPC:
E01D
BRIDGES
,
Brücken
/
B33Y
ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
,
Additive (generative) Fertigung, d. h. die Herstellung von dreidimensionalen [3D] Bauteilen durch additive Abscheidung, additive Agglomeration oder additive Schichtung, z. B. durch 3D- Drucken, Stereolithografie oder selektives Lasersintern
/
G06F
ELECTRIC DIGITAL DATA PROCESSING
,
Elektrische digitale Datenverarbeitung
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