阅读说明：本技术 一种非可展回转体天线罩表面打印路径规划方法及系统 (Non-developable revolving body antenna housing surface printing path planning method and system ) 是由 王建军 郭旺 黄进 龚宏萧 曹锐奇 于 2021-08-16 设计创作，主要内容包括：本发明属于三维打印技术领域,公开了一种非可展回转体天线罩表面打印路径规划方法及系统,所述非可展回转体天线罩表面打印路径规划方法包括：回转体母线分割；空间切割平面生成；骑缝面分割；三角形面片切割；带打印图形数据绘制。本发明的非可展回转体天线罩表面打印路径规划方法,采用三维打印技术,能制造各种复杂结构曲面；三维打印,极大提高制作效率,采用曲面切片与路径规划。本发明给出在非可展回转体上进行喷墨打印路径规划的整个流程方法,增材制造实现在非可展曲面与回转体上制作频率选择表面；采用三维打印技术,对比专利1中采用车削,专利2未考虑回转体切片且未提出一整套系统的片与路径规划,本发明能制作各种复杂结构曲面。(The invention belongs to the technical field of three-dimensional printing, and discloses a method and a system for planning a printing path on the surface of a non-developable revolving body antenna housing, wherein the method for planning the printing path on the surface of the non-developable revolving body antenna housing comprises the following steps: dividing a revolving body bus; generating a space cutting plane; dividing a seam riding surface; cutting a triangular patch; and drawing the tape printing graphic data. The non-developable revolving body antenna housing surface printing path planning method adopts a three-dimensional printing technology and can manufacture various curved surfaces with complex structures; three-dimensional printing greatly improves the manufacturing efficiency, and curved surface slicing and path planning are adopted. The invention provides a whole flow method for planning an ink-jet printing path on a non-developable revolving body, and additive manufacturing is realized by manufacturing a frequency selection surface on a non-developable curved surface and the revolving body; by adopting a three-dimensional printing technology, compared with turning adopted in patent 1, the method disclosed by the invention has the advantages that the revolving body slicing is not considered in patent 2, and the sheet and path planning of a whole set of system is not provided, so that various curved surfaces with complex structures can be manufactured.)

1. A non-developable revolved body antenna housing surface printing path planning method is characterized by comprising the following steps:

step one, dividing a revolving body bus: the revolving body bus segmentation is carried out by algorithm processing, and printing tape segmentation is carried out according to the arch height error of the revolving body antenna housing;

step two, generating a space cutting plane: solving the included angle between each approximate straight line and the rotating shaft, and converting the cutting problem into a cutting plane which is vertical to the rotating shaft and has variable spacing by utilizing the triangular relation formed by the included angles;

step three, dividing the joint-riding surface: screening to obtain triangles with straddling seam split surfaces, calculating the intersection points of the straddling surfaces according to vertex data of the straddling triangles and the equation of the straddling cut surfaces, and reconstructing the straddling triangles;

step four, cutting the triangular dough sheet: cutting the triangular patch data to obtain a line segment, drawing the line segment into planar graph data through an unfolding algorithm, and realizing the cutting of the triangular patch;

step five, drawing the data with the printed graph: and drawing the line segments obtained by cutting the triangular patches into a plane graph according to the cutting layers inside the dividing belts, and respectively outputting the printing graph data and the G codes of each belt.

2. The method for planning the printing path of the surface of the radome of the non-developable revolving body according to claim 1, wherein in the first step, the revolving body generatrix is divided, and the method comprises the following steps:

the radome is usually a cover with the appearance of a Von Karman bus revolving body, the surface of the radome is a non-developable three-dimensional curved surface, and an FSS antenna is integrally formed on the surface by spray printing; aiming at the structural characteristics of the array piezoelectric nozzle, the algorithm processing is carried out on the revolving body bus segmentation; array piezoelectric nozzle surface has a row to be located the orifice on shower nozzle surface, and the material need deposit in solid of revolution generating line bellied place, and the printing tape is cut apart according to the hunch height error of solid of revolution antenna house, includes:

(1) iteratively searching a coordinate point with the distance from the previous point as the width of the spray head on the revolving body bus according to the coordinate of the previous point on the revolving body bus and the width of the array spray head nozzle row;

(2) after coordinate points with the distance being the width of the spray head are searched, the midpoint of a space direct connection line between the coordinate points and the previous coordinate point and the midpoint on a revolving body bus are calculated;

(3) calculating the space distance between the two middle points, taking the space distance as an arch height error, comparing the arch height error with a set arch height error, if the arch height error is too large, taking the two points as a search boundary, continuously searching a segmentation band capable of meeting the arch height error through a dichotomy, and if the arch height error meets the set arch height error, directly taking a coordinate point corresponding to the width of the spray head as a segmentation point;

(4) and repeating the iterative search process to divide the revolving body bus into a plurality of printing belts meeting the requirement of the arch height error.

3. The non-developable revolved body radome surface print path planning method according to claim 1, wherein in the second step, the generating of the space cutting plane includes:

the revolving body bus is approximated to a plurality of straight line segments with the length not exceeding the width of the nozzle row of the spray head by the dividing belt, the included angles between different approximate straight line segments and the revolving shaft are different, and the cutting process is carried out along the normal direction of each approximate straight line because the integrated spray printing process of the antenna housing needs to keep the surface of the spray head parallel to the tangential direction of the bus and the array holes of the spray head are distributed at equal intervals in the plane of the spray head; the included angle between each approximate straight line and the rotating shaft is solved, and the triangular relation formed by the included angles is utilized to convert the cutting problem vertical to the line segment into a cutting plane vertical to the rotating shaft and variable spacing;

generating a series of division plane position coordinates on a rotating shaft between the lower end and the top end of a revolving body antenna housing bus by the space cutting plane generation method; according to the direction vector of the rotating shaft, combining the position coordinate of the cutting plane on the rotating shaft, taking the rotating shaft vector as the normal vector of the cutting plane, taking the position coordinate point as one point in the plane, and constructing a series of variable-interval cutting planes according to a point normal plane equation so as to construct a space cutting plane family.

4. The method for planning the printing path of the surface of the radome of the non-developable revolving body according to claim 1, wherein in the third step, the dividing of the joint riding surface comprises:

after the processing of the band segmentation algorithm, the surface of the non-expandable revolving body is similar to a revolving body formed by a series of conical sections, each conical section is expanded into a sector band in a plane, but because triangles in the segmentation band of the STL three-dimensional curved surface file mutually present a sawtooth interweaving characteristic and cannot be directly expanded along an expansion seam tangent plane, three-dimensional reconstruction needs to be carried out on the data of a seam-riding triangle patch;

to reconstruct the cross-surface triangle data, firstly traversing the triangle data, screening out triangles with cross-surface split surfaces, on the basis, calculating cross-surface intersection points according to vertex data of the cross-surface triangles and a cross-surface cutting surface equation, and reconstructing the cross-surface triangle according to the cross-surface intersection points, wherein the cross-surface triangle data comprises the following steps:

(1) traversing all STL three-dimensional curved surface files, and searching triangular dough sheet data with intersection points with the joint parting plane;

(2) solving the intersection points of the three line segments of the cross-surface triangular surface patch and the split surface of the seam, simultaneously judging the intersection mode of the cross-surface triangular surface skin and the split surface of the seam, and reconstructing the cross-surface triangle by recombining the vertex of the triangle and the intersection point of the split surface of the seam;

(3) and adding the reconstructed triangle data into an STL file reading data structure.

5. The method for planning the printing path of the surface of the radome of the non-developable revolving body according to claim 1, wherein in the fourth step, the cutting of the triangular patch comprises:

after reconstructing STL file three-dimensional curved surface data through a joint dividing plane, all triangle patch data are distributed on two sides of the joint dividing plane, each triangle patch data is cut to obtain a series of line segments, the line segments are drawn into plane graphic data through an expansion algorithm, and the cutting of the triangle patches is realized, and the method comprises the following steps:

(1) calculating the highest point and the lowest point of a triangular patch along the direction of a rotating shaft according to a cutting plane cluster and position point coordinates generated by a space cutting plane, and determining an initial cutting plane and an ending cutting plane which have intersection points with the triangle in the cutting plane by using a bisection method according to the point coordinates;

(2) calculating the intersection point of three sides of the triangle and each tangent plane from the initial tangent plane determined in the last step, storing the two intersection points as two end points of the line segment, marking the serial number of the segmentation layer where the line segment is positioned, and executing the process to the ending tangent plane;

(3) and repeatedly executing the slicing process of the single triangle patch, and slicing each triangle in the non-expandable space surface STL file to obtain a series of line segments, wherein each line segment marks the corresponding segmentation layer.

6. The non-developable revolved body radome surface printing path planning method according to claim 1, wherein in step five, the drawing of the tape printing graphic data comprises:

after all triangular patches in the STL file are cut into small line segments, the small line segments need to be converted into actually usable printing graphic data; the adopted method is that according to a cutting layer inside a cutting belt, line segments obtained by cutting a triangular patch are drawn into a plane graph, the line width is a pixel point unit, and after all the cutting line segments are drawn, the printing graph data of each belt are respectively output;

integrating five modules including bus strip division, space cutting plane generation, riding surface division, triangular surface patch cutting and strip printing graphic data drawing, connecting functions in series to integrated spray printing forming path planning and model processing software of the revolving body radome, and finally outputting each strip of spray printing graphic data, cutting effect three-dimensional graphic display and five-axis linkage G code data by inputting Von Karman curve control parameters, strip division control parameters and cutting graphic single-pixel size;

wherein the Von Karman curve control parameters comprise an end face radius and a height; the band segmentation control parameters include sprinkler width, announcement error, and iteration termination error criteria.

7. A non-developable revolving body radome surface printing path planning system for implementing the non-developable revolving body radome surface printing path planning method according to any one of claims 1 to 6, wherein the non-developable revolving body radome surface printing path planning system comprises:

the revolving body bus segmentation module is used for carrying out algorithm processing on the revolving body bus segmentation and carrying out printing tape segmentation according to the arch height error of the revolving body radome;

the space cutting plane generation module is used for solving the included angle between each approximate straight line and the rotating shaft and converting the cutting problem into a cutting plane which is vertical to the rotating shaft and has variable spacing by utilizing the triangular relation formed by the included angles;

the straddling seam surface dividing module is used for screening triangles with straddling seam dividing surfaces, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling cutting surfaces and reconstructing the straddling triangles;

the triangular patch cutting module is used for cutting the triangular patch data to obtain line segments, and drawing the line segments into the planar graph data through an unfolding algorithm to realize the cutting of the triangular patch;

and the strip printing graphic data drawing module is used for drawing the line segments obtained by cutting the triangular surface patches into a planar graph according to the cutting layers in the dividing strips and respectively outputting the printing graphic data of each strip.

8. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of:

the revolving body bus segmentation is carried out by algorithm processing, and printing tape segmentation is carried out according to the arch height error of the revolving body antenna housing; the method comprises the steps that the included angle between each approximate straight line and a rotating shaft is solved, and the cutting problem perpendicular to line segments is converted into a cutting plane perpendicular to the rotating shaft and variable-interval by utilizing the triangular relation formed by the included angles, so that the generation of a space cutting plane is realized; traversing the triangle data, screening out triangles with straddling seam partition surfaces, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling seam partition surfaces on the basis, and reconstructing the straddling triangles; cutting each triangular patch data to obtain a series of line segments, drawing the line segments into the plane graph data through an unfolding algorithm, and realizing the cutting of the triangular patches; and drawing the line segments obtained by cutting the triangular surface patch into a plane graph according to the cutting layer inside the cutting zone, wherein the line width is a pixel point unit, and outputting the printing graph data of each zone respectively after drawing all the cutting line segments.

9. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:

the revolving body bus segmentation is carried out by algorithm processing, and printing tape segmentation is carried out according to the arch height error of the revolving body antenna housing; the method comprises the steps that the included angle between each approximate straight line and a rotating shaft is solved, and the cutting problem perpendicular to line segments is converted into a cutting plane perpendicular to the rotating shaft and variable-interval by utilizing the triangular relation formed by the included angles, so that the generation of a space cutting plane is realized; traversing the triangle data, screening out triangles with straddling seam partition surfaces, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling seam partition surfaces on the basis, and reconstructing the straddling triangles; cutting each triangular patch data to obtain a series of line segments, drawing the line segments into the plane graph data through an unfolding algorithm, and realizing the cutting of the triangular patches; and drawing the line segments obtained by cutting the triangular surface patch into a plane graph according to the cutting layer inside the cutting zone, wherein the line width is a pixel point unit, and outputting the printing graph data of each zone respectively after drawing all the cutting line segments.

10. An information data processing terminal, wherein the information data processing terminal is configured to implement the non-developable revolving body radome surface printing path planning system according to claim 7.

Technical Field

The invention belongs to the technical field of three-dimensional printing, and particularly relates to a non-developable revolving body antenna housing surface printing path planning method and system.

Background

At present, the frequency selection antenna housing has two important functions for modern military aircrafts, one is that the frequency selection antenna housing has electromagnetic wave selective permeability, and can well protect a guidance system of the aircraft; secondly, the radar cabin of the aircraft is a main scattering source, the frequency selection antenna cover can effectively reduce the radar scattering area (RCS) of the aircraft, the electromagnetic stealth capability and the air defense capability of the aircraft are further improved, and the frequency selection antenna cover has wide application requirements on platforms such as a new generation stealth missile, a hypersonic missile and a high stealth performance fighter. The radome is usually a non-developable three-dimensional curved surface structure, and the problems of complex process, incapability of processing complex structures, long manufacturing period and the like exist in the traditional turning and laser engraving on the frequency selection surface for manufacturing the radome body. Three-dimensional printing techniques have the advantage of rapidly manufacturing various complex curved surfaces that conventional processes cannot match.

Three-dimensional printing techniques are a general term for a range of additive manufacturing techniques. The manufacturing method is different from the traditional material reduction manufacturing method, adopts the basic principle of layered manufacturing and layer-by-layer superposition, simplifies the forming flow and the processing difficulty of workpieces, and can quickly manufacture various products with complex structures. Due to the layered manufacturing mode, the curved surface can be printed even though the curved surface is formed by controlling the shape of the superposed materials. But for materials that need to be conformal on complex surfaces, curved surface slicing must be possible. So far, a curved surface slicing method is proposed.

Three-dimensional printing technology has a lot of classifications, and the printing mode of ejecting materials by using the array piezoelectric nozzle has the advantages of high printing precision and high efficiency. The array piezoelectric nozzle utilizes the piezoelectric effect principle to realize the control of the initial kinetic energy of liquid drops by controlling the driving waveform of the piezoelectric array nozzle. When a trapezoidal driving signal is applied to a piezoelectric stress sheet in the piezoelectric nozzle, the piezoelectric sheet deforms due to the piezoelectric effect and pushes the front silicide to deform. In the voltage rising stage of the piezoelectric trapezoid driving waveform, the deformation of the piezoelectric actuator causes the space in the ink cavity to expand rapidly to generate negative pressure on the ink. When the driving waveform is maintained at high pressure, the negative pressure generated by the rising of the driving signal waveform is transmitted to the nozzle and the ink inlet in the middle of the ink cavity respectively in two opposite directions due to the transmission of sound waves. The pressure wave is reflected back as it passes to the restrictive flow chamber at the ink inlet. The pressure wave transmitted to the nozzle direction has no reflection medium, so that the original pressure wave is maintained unchanged in direction. When the voltage of the piezoelectric driving signal is reduced, the existing deformation of the piezoelectric actuator can cause the silicide to change, so that the space in the ink cavity is contracted to a certain extent, and finally a certain ink positive pressure is formed. The pressure wave generated by the pressure wave and the reflected pressure wave are transmitted to the nozzle in a superposition manner in the ink cavity, and the pressure presses ink to enable the ink to be ejected from the nozzle at a high speed.

For a manufacturing method of a revolving body radome, patent 1 provides a device and a method for machining a semi-conical wave-transparent radome. The special device designed and processed by the scheme can adopt three-axis equipment instead of complicated five-axis turning.

For the planning of a curved surface three-dimensional printing path, patent 2 provides an AC corner optimization method for five-axis 3D printing line-cutting path planning, and the scheme is oriented to AC corner optimization design, so that a nozzle does not need to be lifted in the printing process, continuous printing can be performed until the printing of a workpiece is finished, and the printing efficiency is improved; the over-cutting of the workpiece is avoided, the workpiece is protected from being damaged, and the printing quality of the finished workpiece is improved.

When the frequency selection surface of the curved-surface radome is manufactured, the traditional mode is five-axis machine tool turning or laser engraving, the process is complex, and the production period is long. The ink-jet three-dimensional printing technology has the characteristics of high printing precision and high efficiency, and the current ink-jet printing can only print a plane. In order to realize the feasibility of printing the radome of the revolving body, the technical problems of slicing and printing path planning of the curved revolving body are solved.

Through the above analysis, the problems and defects of the prior art are as follows:

(1) the traditional five-axis turning (milling) and laser engraving system has the problems of complex manufacturing process, incapability of processing complex curved surface structures and the like on the frequency selection surface for manufacturing the cover body.

(2) The traditional laser engraving system has the problems of long manufacturing period, high cost, incapability of acting on curved surfaces with complex structures and the like on the frequency selection surface for manufacturing the cover body.

(3) The traditional three-dimensional printing technology is plane slicing and path planning, a PCB (printed Circuit Board) process is adopted on a plane frequency selection surface, only a plane can be printed, a non-developable curved surface cannot be manufactured, and a curved surface with a complex structure cannot be used.

The difficulty of solving the above problems and defects: the above problems are inherent defects of the conventional processes, and in order to overcome the defects, an innovative and feasible process method must be adopted. The invention adopts ink-jet printing to print on the revolution curved surface. But the spray head is designed for plane printing, so that curved surface slicing and path planning are carried out on the revolving body, the printed structure is guaranteed to be high in precision and not to deform when the curved surface is conformal, and therefore the electrical property of the antenna housing is guaranteed, and the system engineering is very complex.

The significance of solving the problems and the defects is as follows: aiming at the problems, the curved surface slicing and path planning provided by the invention realize the three-dimensional printing and manufacturing of the non-developable radome, greatly simplify the manufacturing process of the radome and reduce the manufacturing period of the radome.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a method and a system for planning a printing path on the surface of a non-developable revolving body radome.

The invention is realized in such a way that a non-developable revolved body antenna housing surface printing path planning method comprises the following steps:

step one, dividing a revolving body bus: the revolving body bus segmentation is carried out by algorithm processing, and printing tape segmentation is carried out according to the arch height error of the revolving body antenna housing, so that a foundation is laid for the generation of a subsequent space cutting plane;

step two, generating a space cutting plane: the included angle between each approximate straight line and the rotating shaft is solved, and the cutting problem is converted into a cutting plane which is vertical to the rotating shaft and has variable spacing by utilizing the triangular relation formed by the included angles, so that the foundation is laid for the subsequent cutting of the triangular dough sheet;

step three, dividing the joint-riding surface: screening to obtain triangles with straddling seam split surfaces, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling cut surfaces, reconstructing the straddling triangles and laying a foundation for subsequent cutting of tangent planes;

step four, cutting the triangular dough sheet: the triangular patch data is cut to obtain line segments, the line segments are drawn into the plane graph data through an expansion algorithm, and the cutting of the triangular patch is realized to lay a foundation for drawing the subsequent graph data with printing;

step five, drawing the data with the printed graph: and drawing the line segments obtained by cutting the triangular patches into a plane graph according to the cutting layers inside the dividing belts, and respectively outputting the printing graph data of each belt.

Further, in the first step, the rotor bus line division includes:

the radome is usually a cover with the shape of a Von Karman bus revolving body, the surface of the radome is a non-developable three-dimensional curved surface, and the FSS antenna is integrally formed on the surface by spray printing. Aiming at the structural characteristics of the array piezoelectric nozzle, the algorithm processing is carried out on the revolving body bus segmentation. Array piezoelectric nozzle surface has a row to be located the orifice on shower nozzle surface, and the material need deposit in solid of revolution generating line bellied place, and the printing tape is cut apart according to the hunch height error of solid of revolution antenna house, includes:

(1) iteratively searching a coordinate point with the distance from the previous point as the width of the spray head on the revolving body bus according to the coordinate of the previous point on the revolving body bus and the width of the array spray head nozzle row;

(2) after coordinate points with the distance being the width of the spray head are searched, the midpoint of a space direct connection line between the coordinate points and the previous coordinate point and the midpoint on a revolving body bus are calculated;

(3) calculating the space distance between the two middle points, taking the space distance as an arch height error, comparing the arch height error with a set arch height error, if the arch height error is too large, taking the two points as a search boundary, continuously searching a segmentation band capable of meeting the arch height error through a dichotomy, and if the arch height error meets the set arch height error, directly taking a coordinate point corresponding to the width of the spray head as a segmentation point;

(4) and repeating the iterative search process to divide the revolving body bus into a plurality of printing belts meeting the requirement of the arch height error.

Further, in step two, the generating of the spatial cutting plane includes:

the revolving body bus is approximated to a plurality of straight line segments with the length not exceeding the width of the nozzle row of the spray head by the dividing belt, the included angles between different approximate straight line segments and the revolving shaft are different, and the cutting process is carried out along the normal direction of each approximate straight line because the integrated spray printing process of the antenna housing needs to keep the surface of the spray head parallel to the tangential direction of the bus and the array holes of the spray head are distributed at equal intervals in the plane of the spray head; the included angle between each approximate straight line and the rotating shaft is solved, and the triangular relation formed by the included angles is utilized to convert the cutting problem vertical to the line segment into the cutting plane vertical to the rotating shaft and with the variable interval.

By the space cutting plane generation method, a series of division plane position coordinates are generated on a rotating shaft between the lower end and the top end of a revolving body antenna housing bus. According to the direction vector of the rotating shaft, combining the position coordinate of the cutting plane on the rotating shaft, taking the rotating shaft vector as the normal vector of the cutting plane, taking the position coordinate point as one point in the plane, and constructing a series of variable-interval cutting planes according to a point normal plane equation so as to construct a space cutting plane family.

Further, in the third step, the dividing of the joint-riding surface includes:

after the processing of the belt segmentation algorithm, the surface of the non-expandable revolving body is similar to a revolving body formed by a series of conical sections, each conical section is expanded into a sector belt in a plane, but because triangles in the segmentation belt of the STL three-dimensional curved surface file mutually present a sawtooth interweaving characteristic and cannot be directly expanded along an expansion seam tangent plane, three-dimensional reconstruction needs to be carried out on the data of a seam-crossing triangular patch.

To reconstruct the cross-surface triangle data, firstly traversing the triangle data, screening out triangles with cross-surface split surfaces, on the basis, calculating cross-surface intersection points according to vertex data of the cross-surface triangles and a cross-surface cutting surface equation, and reconstructing the cross-surface triangle according to the cross-surface intersection points, wherein the cross-surface triangle data comprises the following steps:

(1) traversing all STL three-dimensional curved surface files, and searching triangular dough sheet data with intersection points with the joint parting plane;

(2) solving the intersection points of the three line segments of the cross-surface triangular surface patch and the split surface of the seam, simultaneously judging the intersection mode of the cross-surface triangular surface skin and the split surface of the seam, and reconstructing the cross-surface triangle by recombining the vertex of the triangle and the intersection point of the split surface of the seam;

(3) and adding the reconstructed triangle data into an STL file reading data structure.

Further, in step four, the triangular patch cutting includes:

after reconstructing STL file three-dimensional curved surface data through a joint dividing plane, all triangle patch data are distributed on two sides of the joint dividing plane, each triangle patch data is cut to obtain a series of line segments, the line segments are drawn into plane graphic data through an expansion algorithm, and the cutting of the triangle patches is realized, and the method comprises the following steps:

(1) calculating the highest point and the lowest point of a triangular patch along the direction of a rotating shaft according to a cutting plane cluster and position point coordinates generated by a space cutting plane, and determining an initial cutting plane and an ending cutting plane which have intersection points with the triangle in the cutting plane by using a bisection method according to the point coordinates;

(2) calculating the intersection point of three sides of the triangle and each tangent plane from the initial tangent plane determined in the last step, storing the two intersection points as two end points of the line segment, marking the serial number of the segmentation layer where the line segment is positioned, and executing the process to the ending tangent plane;

(3) and repeatedly executing the slicing process of the single triangle patch, and slicing each triangle in the non-expandable space surface STL file to obtain a series of line segments, wherein each line segment marks the corresponding segmentation layer.

Further, in step five, the drawing of the graphic data with printing includes:

after all the triangular patches in the STL file are cut into small line segments, they need to be converted into actual usable print graphics data. The adopted method is that according to a cutting layer inside a cutting belt, line segments obtained by cutting a triangular patch are drawn into a plane graph, the line width is a pixel point unit, and after all the cutting line segments are drawn, the printing graph data of each belt are respectively output.

And integrating five modules including bus strip division, space cutting plane generation, riding surface division, triangular surface patch cutting and strip printing graphic data drawing, connecting functions in series to integrated spray printing forming path planning and model processing software of the revolving body radome, and finally outputting each strip of spray printing graphic data, cutting effect three-dimensional graphic display and five-axis linkage G code data by inputting Von Karman curve control parameters, strip division control parameters and cutting graphic single-pixel size.

Wherein the Von Karman curve control parameters comprise an end face radius and a height; the band segmentation control parameters include sprinkler width, announcement error, and iteration termination error criteria.

Another object of the present invention is to provide a non-developable revolved body radome surface print path planning system applying the non-developable revolved body radome surface print path planning method, where the non-developable revolved body radome surface print path planning system includes:

the revolving body bus segmentation module is used for carrying out algorithm processing on the revolving body bus segmentation and carrying out printing tape segmentation according to the arch height error of the revolving body radome;

the space cutting plane generation module is used for solving the included angle between each approximate straight line and the rotating shaft and converting the cutting problem into a cutting plane which is vertical to the rotating shaft and has variable spacing by utilizing the triangular relation formed by the included angles;

the straddling seam surface dividing module is used for screening triangles with straddling seam dividing surfaces, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling cutting surfaces and reconstructing the straddling triangles;

the triangular patch cutting module is used for cutting the triangular patch data to obtain line segments, and drawing the line segments into the planar graph data through an unfolding algorithm to realize the cutting of the triangular patch;

and the strip printing graphic data drawing module is used for drawing the line segments obtained by cutting the triangular surface patches into a planar graph according to the cutting layers in the dividing strips and respectively outputting the printing graphic data of each strip.

It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:

the revolving body bus segmentation is carried out by algorithm processing, and printing tape segmentation is carried out according to the arch height error of the revolving body antenna housing; the method comprises the steps that the included angle between each approximate straight line and a rotating shaft is solved, and the cutting problem perpendicular to line segments is converted into a cutting plane perpendicular to the rotating shaft and variable-interval by utilizing the triangular relation formed by the included angles, so that the generation of a space cutting plane is realized; traversing the triangle data, screening out triangles with straddling seam partition surfaces, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling seam partition surfaces on the basis, and reconstructing the straddling triangles; cutting each triangular patch data to obtain a series of line segments, drawing the line segments into the plane graph data through an unfolding algorithm, and realizing the cutting of the triangular patches; and drawing the line segments obtained by cutting the triangular surface patch into a plane graph according to the cutting layer inside the cutting zone, wherein the line width is a pixel point unit, and outputting the printing graph data of each zone respectively after drawing all the cutting line segments.

It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:

the revolving body bus segmentation is carried out by algorithm processing, and printing tape segmentation is carried out according to the arch height error of the revolving body antenna housing; the method comprises the steps that the included angle between each approximate straight line and a rotating shaft is solved, and the cutting problem perpendicular to line segments is converted into a cutting plane perpendicular to the rotating shaft and variable-interval by utilizing the triangular relation formed by the included angles, so that the generation of a space cutting plane is realized; traversing the triangle data, screening out triangles with straddling seam partition surfaces, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling seam partition surfaces on the basis, and reconstructing the straddling triangles; cutting each triangular patch data to obtain a series of line segments, drawing the line segments into the plane graph data through an unfolding algorithm, and realizing the cutting of the triangular patches; and drawing the line segments obtained by cutting the triangular surface patch into a plane graph according to the cutting layer inside the cutting zone, wherein the line width is a pixel point unit, and outputting the printing graph data of each zone respectively after drawing all the cutting line segments.

The invention also aims to provide an information data processing terminal, which is used for realizing the non-developable revolving body antenna housing surface printing path planning system.

By combining all the technical schemes, the invention has the advantages and positive effects that: the non-developable revolving body radome surface printing path planning method provided by the invention adopts a three-dimensional printing technology (specifically, ink-jet printing), and can manufacture various complex structure curved surfaces; three-dimensional printing (adopting array piezoelectric nozzles for ink jet) can greatly improve the manufacturing efficiency, and curved surface slicing and path planning are adopted.

The invention provides a whole flow method for planning an ink-jet printing path on a non-developable revolving body, and additive manufacturing is realized by manufacturing a frequency selection surface on a non-developable curved surface and the revolving body. The invention adopts a three-dimensional printing technology, compared with turning adopted in patent 1, revolving body slicing is not considered in patent 2, and the sheet and path planning of a whole set of system is not provided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a method for planning a printing path on a surface of a non-developable revolved body radome according to an embodiment of the present invention.

Fig. 2 is a block diagram of a non-developable revolved body radome surface printing path planning system according to an embodiment of the present invention;

in the figure: 1. a revolving body bus dividing module; 2. a space cutting plane generating module; 3. a joint surface dividing module; 4. a triangular patch cutting module; 5. and the tape printing graphic data drawing module.

Fig. 3 is a schematic view of a revolving body bus bar division concept provided by an embodiment of the present invention.

Fig. 4 is a schematic diagram of a cutting plane construction process provided by an embodiment of the present invention.

Fig. 5 is a schematic diagram of an algorithm for approximation processing of a surface of a non-developable solid of revolution according to an embodiment of the present invention.

Fig. 6 is a schematic diagram illustrating a cutting principle of a triangular patch according to an embodiment of the present invention.

Figure 7 is a schematic diagram of the generation of print band graphical data provided by an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Aiming at the problems in the prior art, the invention provides a method and a system for planning a printing path on the surface of a non-developable revolving body radome, and the invention is described in detail below with reference to the accompanying drawings.

As shown in fig. 1, a method for planning a print path on a surface of a radome with a non-developable revolving body according to an embodiment of the present invention includes the following steps:

s101, revolving body generatrix division: taking a Von Karman curve revolving body as an example, bisection iterative algorithm processing is carried out on the revolving body bus segmentation, and printing tape segmentation is carried out according to the arch height error of the revolving body antenna housing to obtain the printing tape meeting the requirement;

s102, generating a space cutting plane: solving the included angle between each approximate straight line and the rotating shaft, and converting the cutting problem into a cutting plane which is vertical to the rotating shaft and has variable spacing by using the trigonometric relation formed by the included angles and adopting the sine and cosine theorem to generate a series of cutting planes with variable spacing;

s103, dividing a joint-riding surface: the revolving body divided by the section with the weaving interval is approximately equivalent to a circular table and is unfolded into a fan-shaped belt in a plane. Screening triangles with straddling seam partition surfaces at the position of the expansion seam cutting plane, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling cutting surface, and reconstructing the straddling triangles;

s104, cutting a triangular patch: cutting the triangular patch data to obtain line segments, and drawing the line segments into the plane graph data through an unfolding algorithm;

s105, drawing the tape printing graphic data: and drawing the line segments obtained by cutting the triangular patches into a plane graph according to the cutting layers inside the dividing belts, and respectively outputting the printing graph data and the corresponding G codes of each belt.

As shown in fig. 2, a non-developable revolved body radome surface printing path planning system provided by an embodiment of the present invention includes:

the revolving body bus segmentation module 1 is used for carrying out algorithm processing on revolving body bus segmentation and carrying out printing tape segmentation according to the arch height error of the revolving body radome;

the space cutting plane generation module 2 is used for solving the included angle between each approximate straight line and the rotating shaft and converting the cutting problem into a cutting plane which is vertical to the rotating shaft and has variable spacing by utilizing the triangular relation formed by the included angles;

the straddling seam surface dividing module 3 is used for screening triangles with straddling seam dividing surfaces, calculating the intersection points of the straddling surfaces according to the vertex data of the straddling triangles and the equation of the straddling cutting surfaces and reconstructing the straddling triangles;

the triangular patch cutting module 4 is used for cutting the triangular patch data to obtain line segments, and drawing the line segments into the planar graph data through an unfolding algorithm to realize the cutting of the triangular patch;

and the belt printing graphic data drawing module 5 is used for drawing the line segments obtained by cutting the triangular surface patches into a plane graph according to the cutting layers inside the divided belts and respectively outputting the printing graphic data of each belt.

The technical solution of the present invention will be further described with reference to the following explanation of terms.

Frequency selective surface: the periodic metal pattern structure is a periodic metal pattern structure, the capacitive part and the inductive part of the periodic metal pattern structure generate resonance at a resonance point, and the periodic metal pattern structure is a spatial filter with band-pass or band-stop characteristics.

Piezoelectric ink-jet printing: the piezoelectric sheet is utilized to generate mechanical vibration, and the whole process of controlling ink jet by the piezoelectric element is completed through pressure.

The technical solution of the present invention is further described below with reference to specific examples.

1. Revolving body bus-bar division

The radome is usually a cover in the shape of a von Karman bus revolving body, the surface of the radome is a non-developable three-dimensional curved surface, and the FSS antenna is integrally formed on the surface of the radome by spray printing. Aiming at the structural characteristics of the array piezoelectric nozzle, the algorithm processing is carried out on the revolving body bus segmentation. As shown in fig. 3, the array piezoelectric nozzle surface has a row of nozzles located on the nozzle surface, and the material needs to be deposited in the raised place in the revolving body bus, in order to improve the accuracy of the integrated spray printing forming antenna housing, the print ribbon needs to be divided according to the arch height error of the revolving body antenna housing, and the specific process can be divided into the following steps:

(1) and iteratively searching a coordinate point with the distance from the previous point as the width of the spray head on the revolving body generatrix according to the coordinate of the previous point on the revolving body generatrix and the width of the array spray head nozzle row.

(2) After a coordinate point with the distance being the width of the spray head is searched, the midpoint of a space direct connection line between the coordinate point and the previous coordinate point and the midpoint on a revolving body generatrix are calculated.

(3) And calculating the space distance between the two middle points, taking the space distance as an arch height error, comparing the arch height error with a set arch height error, if the arch height error is too large, taking the two points as search boundaries, continuously searching a segmentation band capable of meeting the arch height error through a dichotomy, and if the arch height error meets the set arch height error, directly taking a coordinate point corresponding to the width of the spray head as a segmentation point.

(4) And repeating the iterative search process to divide the revolving body bus into a plurality of printing belts meeting the arch height error requirement.

2. Spatial cut plane generation

The revolving body bus is similar to a plurality of straight line segments with the length not exceeding the width of the nozzle row of the spray head by the dividing belt, the included angles between different similar straight line segments and the revolving shaft are different, and the surface of the spray head is kept parallel to the tangential direction of the bus in the integrated spray printing process of the antenna housing, and the spray head array holes are distributed in the plane of the spray head at equal intervals. Therefore, the cutting process is performed along the normal direction of the approximate straight line of each strip, and in order to simplify the process, the cutting problem perpendicular to the line segment is converted into the cutting plane perpendicular to the rotating shaft and with the variable spacing by solving the included angle between the approximate straight line of each strip and the rotating shaft and utilizing the triangular relation formed by the included angle, and the process is shown in fig. 4.

Through the method, a series of division plane position coordinates are generated on the rotating shaft between the lower end and the top end of the rotating body antenna cover generatrix. According to the direction vector of the rotating shaft, combining the position coordinate of the cutting plane on the rotating shaft, taking the rotating shaft vector as the normal vector of the cutting plane, taking the position coordinate point as one point in the plane, and constructing a series of variable-interval cutting planes according to a point normal plane equation so as to construct a space cutting plane family.

3. Parting of the surfaces by riding a seam

After the processing of the band segmentation algorithm, the surface of the non-expandable revolving body can be approximated to a revolving body formed by a series of conical sections, each conical section can be expanded to a sector band in a plane, but because triangles in the segmentation band of the STL three-dimensional curved file exhibit a mutual sawtooth interweaving characteristic, the triangles cannot be directly expanded along an expansion seam tangent plane, three-dimensional reconstruction needs to be performed on the data of a seam-riding triangular patch, and the principle is shown in FIG. 5.

To reconstruct the cross-surface triangle data, firstly traversing the triangle data, screening out triangles with cross-surface split surfaces, on the basis, calculating cross-surface intersection points according to vertex data of the cross-surface triangles and a cross-surface cutting surface equation, and reconstructing the cross-surface triangle according to the cross-surface intersection points, wherein the specific algorithm steps comprise the following steps:

(1) and traversing all STL three-dimensional surface files, and searching triangular dough cover data with intersection points with the joint dividing plane.

(2) And solving the intersection points of the three line segments of the cross-surface triangular surface patch and the split plane, judging the intersection mode of the cross-surface triangular surface skin and the split plane, and reconstructing the cross-surface triangle by recombining the vertex of the triangle and the intersection point of the split plane.

(3) And adding the reconstructed triangle data into an STL file reading data structure.

4. Triangular patch cutting

As shown in fig. 6, after the STL file three-dimensional curved surface data is reconstructed by the joint dividing plane, all the triangle patch data are distributed on both sides of the joint dividing plane, at this time, each triangle patch data is cut to obtain a series of line segments, and the line segments are drawn into the plane graphic data by the unfolding algorithm to realize the cutting of the triangle patches, and the specific algorithm of the process includes the following steps:

(1) calculating the highest point and the lowest point of a triangular patch along the direction of a rotating shaft according to a cutting plane cluster and position point coordinates generated by a space cutting plane, and determining an initial cutting plane and an ending cutting plane which have intersection points with the triangle in the cutting plane by using a bisection method according to the point coordinates;

(2) calculating the intersection point of three sides of the triangle and each tangent plane from the initial tangent plane determined in the last step, storing the two intersection points as two end points of the line segment, marking the serial number of the segmentation layer where the line segment is positioned, and executing the process to the ending tangent plane;

(3) and repeatedly executing the slicing process of the single triangle patch, and slicing each triangle in the non-expandable space surface STL file to obtain a series of line segments, wherein each line segment is marked with a corresponding segmentation layer.

5. Drawing of graphic data with printing

After all the triangular patches in the STL file are cut into small line segments, they need to be converted into actual usable print graphics data. The adopted method is that line segments obtained by cutting a triangular patch are drawn into a plane graph according to a cutting layer inside a cutting zone, the line width is a pixel point unit, all the cutting line segments are drawn, and then the printing graph data of each zone are respectively output, and the specific process is shown in fig. 7.

By integrating the five modules of bus band division, space cutting plane generation, junction surface division, triangle surface patch cutting, data drawing with printed patterns and the like, the functions of the five modules are connected in series with integrated spray printing forming path planning and model processing software of the revolved body radome, and finally, the data of each band spray printing pattern, the three-dimensional pattern display of the cutting effect and the five-axis linkage G code data are output by inputting Von Karman curve control parameters (end surface radius and height), band division control parameters (spray head width, announcement error and iteration termination error standard) and the single pixel size of the cutting pattern.

The invention provides a whole flow method for planning an ink-jet printing path on a non-developable revolving body, and additive manufacturing is realized by manufacturing a frequency selection surface on a non-developable curved surface and the revolving body. The invention adopts a three-dimensional printing technology, and can manufacture various curved surfaces with complex structures by turning compared with the technology in patent 1. In patent 2, the slice of the revolving body is not considered, and the slice and path planning of the whole set of system is not proposed.

Based on the slicing and path planning and model processing software manufactured by the invention, the manufactured three-dimensional printing integrated molded antenna housing (the bottom diameter is 400mm, and the height is 400mm) is manufactured.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.