基于连续顶点分区的混凝土3D打印路径规划算法  

Path planning algorithm for concrete 3D printing based on continuous vertex partitioning

作　　者：崔衡 马宗方[1] 宋琳[1] 刘超 韩怡萱 CUI Heng;MA Zongfang;SONG Lin;LIU Chao;HAN Yixuan(College of Information and Control Engineering,Xi'an University of Architecture and Technology,Xi'an 710055,China)

机构地区：[1]西安建筑科技大学信息与控制工程学院,陕西西安710055

出　　处：《工程设计学报》2024年第3期271-279,共9页Chinese Journal of Engineering Design

基　　金：国家自然科学基金面上项目(62276207)。

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。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.

关 键 词：混凝土3D打印 哈密顿回路 遗传算法 路径优化 

分 类 号：TP3-05[自动化与计算机技术—计算机科学与技术]