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工程设计学报  2024, Vol. 31 Issue (3): 271-279    DOI: 10.3785/j.issn.1006-754X.2024.03.189
机械设计理论与方法     
基于连续顶点分区的混凝土3D打印路径规划算法
崔衡(),马宗方(),宋琳,刘超,韩怡萱
西安建筑科技大学 信息与控制工程学院,陕西 西安 710055
Path planning algorithm for concrete 3D printing based on continuous vertex partitioning
Heng CUI(),Zongfang MA(),Lin SONG,Chao LIU,Yixuan HAN
College of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China
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摘要:

针对混凝土3D打印构件成形质量差和打印时间长的问题,提出了一种基于连续顶点分区的路径规划算法。首先,采用基于哈密顿回路的连续顶点分区方法,将打印区域划分为多个连续的区域,以确保在打印过程中打印喷头不会多次经过同一顶点,从而避免了重复打印和成形质量差的问题。然后,使用遗传算法搜索每个区域,通过迭代和优化来确定最短的打印路径。实验结果表明,与其他路径规划算法相比,所提出的算法能够显著减少打印喷头的空行程和启停次数,且缩短打印时间10%以上,有效地提升了混凝土构件的成形质量与打印效率。基于连续顶点分区的混凝土3D打印路径规划算法通过有效划分打印区域、智能搜索最短路径以及合并优化路径的方式,解决了混凝土3D打印构件成形质量差和打印时间长的问题,这可为混凝土3D打印技术的发展和应用提供有力的技术支持。

关键词: 混凝土3D打印哈密顿回路遗传算法路径优化    
Abstract:

Aiming at the problems of poor forming quality and long printing time of concrete 3D printing components, a path planning algorithm based on continuous vertex partitioning was proposed. Firstly, the continuous vertex partitioning method based on Hamiltonian circuit was used to divide the print area into several continuous regions to ensure that the print nozzle would not pass the same vertex many times during the printing process, thus avoiding the problem of repeated printing and poor forming quality. Then, the genetic algorithm was used to search each region, and the shortest printing path was determined through iteration and optimization. The experimental results showed that compared with other path planning algorithms, the proposed algorithm could significantly reduce the empty travel and start-stop times of the print nozzle, and shorten the printing time by more than 10%, which effectively improved the forming quality and printing efficiency for concrete components. The concrete 3D printing path planning algorithm based on continuous vertex partitioning solves the problems of poor forming quality and long printing time of concrete components by effectively dividing the print area, intelligentiy searching the shortest path and combining the optimal path, which can provide strong technical support for the development and application of concrete 3D printing technology.

Key words: concrete 3D printing    Hamiltonian circuit    genetic algorithm    path optimization
收稿日期: 2023-07-25 出版日期: 2024-06-27
CLC:  TP3-05  
基金资助: 国家自然科学基金面上项目(62276207)
通讯作者: 马宗方     E-mail: 24854119@qq.com;mazf@xauat.edu.cn
作者简介: 崔 衡(2001—),男,陕西渭南人,硕士生,从事混凝土3D打印路径规划研究,E-mail: 24854119@qq.com,https://orcid.org/0009-0008-5254-8023
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引用本文:

崔衡,马宗方,宋琳,刘超,韩怡萱. 基于连续顶点分区的混凝土3D打印路径规划算法[J]. 工程设计学报, 2024, 31(3): 271-279.

Heng CUI,Zongfang MA,Lin SONG,Chao LIU,Yixuan HAN. Path planning algorithm for concrete 3D printing based on continuous vertex partitioning[J]. Chinese Journal of Engineering Design, 2024, 31(3): 271-279.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2024.03.189        https://www.zjujournals.com/gcsjxb/CN/Y2024/V31/I3/271

图1  混凝土3D打印流程
图2  基于连续顶点分区的混凝土3D打印路径规划流程
图3  打印喷头启停造成的混凝土物料堆积
图4  混凝土构件1的仿真成形结果
图5  混凝土构件1的打印路径分区效果对比
算法打印喷头覆盖总长度/mm打印喷头空行程/mm打印喷头启停数/次打印时间/s
本文算法51 6593 5808183
欧拉回路算法53 8205 74016212
Cura软件算法61 25013 17127278
Dijkstra算法58 34010 26023245
表1  基于不同算法的混凝土构件1的打印路径规划仿真结果
图6  混凝土构件2的仿真成形结果
图7  混凝土构件2的打印路径分区效果对比
算法打印喷头覆盖总长度/mm打印喷头空行程/mm打印喷头启停数/次打印时间/s
本文算法23 3893 76011132
欧拉回路算法26 0245 10015149
Cura软件算法30 18210 55322181
Dijkstra算法29 3329 70318163
表2  基于不同算法的混凝土构件2的打印路径规划仿真结果
图8  基于不同算法的混凝土构件打印成形效果对比
构件算法打印喷头覆盖总长度/mm打印喷头空行程/mm打印喷头启停数/次打印时间/s
构件1本文算法21 1014 26411195
欧拉回路算法23 4906 65317224
Cura软件算法34 50217 66524253
Dijkstra算法36 97220 13522258
构件2本文算法16 3043 38413150
欧拉回路算法19 6016 68118179
Cura软件算法23 38110 46123202
Dijkstra算法21 9879 06721232
构件3本文算法16 2019004131
欧拉回路算法18 3013 1009163
Cura软件算法28 57213 27113194
Dijkstra算法30 00814 70710212
表3  基于不同算法的混凝土构件打印路径规划实验结果

分区数量/

迭代数/次

算法运行

时间/s

打印喷头空行程/mm
2200.34243
400.78243
601.42243
3401.12337
602.18325
803.67325
4603.55458
803.98419
1005.03382
5804.93687
1005.86612
1207.34612
61007.42945
1209.09863
14010.93825
表4  不同迭代次数下本文算法的运行时间以及打印喷头的空行程
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