JP7742201B2 - Program, method for manufacturing three-dimensional object, and three-dimensional object - Google Patents

Description

The present invention relates to a program, a method for manufacturing a three-dimensional object, and a three-dimensional object.

Patent document 1 discloses a method for constructing structures using a construction 3D printer.

This construction method will be explained below. When a construction 3D printer extrudes mortar from a nozzle and layers it to build a structure, flexible continuous reinforcement material is inserted instead of rebar. Specifically, the continuous reinforcement material is continuously supplied along with the mortar. This results in the continuous reinforcement material being embedded in the mortar extruded from the nozzle.

In addition, Patent Documents 2 to 4 disclose treatments for improving the quality of structures formed from layered mortar.

Japanese Patent Application Laid-Open No. 2022-184275 Japanese Patent Application Laid-Open No. 2023-064588 Japanese Patent Application Laid-Open No. 2023-084452 Japanese Patent Application Laid-Open No. 2023-107506

However, the methods and processes disclosed in Patent Documents 1 to 4 made it difficult to improve the accuracy of the shape of three-dimensional objects produced by construction 3D printers.

In consideration of the above circumstances, the present invention aims to provide a program, etc. that can improve the accuracy of the shape of three-dimensional objects created by construction 3D printers compared to conventional methods.

According to one aspect of the present invention, there is provided a program for use in a construction 3D printer, configured to cause a computer to execute an acquisition step, a division step, and a generation step. In the acquisition step, three-dimensional shape data representing the target shape of a three-dimensional object to be produced by the construction 3D printer is acquired. In the division step, part or all of the three-dimensional shape data is divided into a plurality of slice data, the slice data having an arbitrary thickness in the production direction of the three-dimensional object and having an external contour corresponding to the outer surface of the three-dimensional object. In the generation step, a tool path is generated, which is the movement path of a nozzle used in the construction 3D printer. The process of generating the tool path includes an adjustment process for adjusting the target shape of the three-dimensional object based on the slice data.

According to this aspect, the accuracy of the shape of the three-dimensional object produced by the construction 3D printer can be improved compared to conventional methods.

FIG. 1 is a configuration diagram illustrating a system 100. FIG. 2 is a block diagram showing the hardware configuration of the information processing device 200. FIG. 2 is a block diagram showing the hardware configuration of the construction 3D printer 300. FIG. 2 is a block diagram showing functions realized by an information processing device 200 (control unit 210). FIG. 1 is a block diagram showing functions realized by the construction 3D printer 300 (control unit 310). FIG. 2 is an activity diagram showing the flow of information processing executed by the information processing device 200. FIG. 10 is a diagram showing the processing of activities A150 to A160. FIG. 2 is an activity diagram showing the flow of information processing executed by the information processing device 200. FIG. 9 is a diagram illustrating an example of processing of each activity in FIG. 8. FIG. 2 is an activity diagram showing the flow of information processing executed by the information processing device 200. FIG. 11 is a diagram illustrating an example of processing of each activity in FIG. 10. FIG. 2 is an activity diagram showing the flow of information processing executed by the information processing device 200. FIG. 2 is an activity diagram showing the flow of information processing executed by the information processing device 200. FIG. 14 is a diagram illustrating an example of activity processing in FIG. 13. FIG. 2 is an activity diagram showing the flow of information processing executed by the information processing device 200. FIG. 16 is a diagram illustrating an example of activity processing in FIG. 15. FIG. 1 is an activity diagram showing the flow of information processing executed by the construction 3D printer 300.

The following describes embodiments of the present invention using the drawings. The various features shown in the embodiments below can be combined with each other.

Incidentally, the program for realizing the software appearing in one embodiment may be provided as a non-transitory computer-readable recording medium, or may be provided so that it can be downloaded from an external server, or may be provided so that the program is launched on an external computer and its functions are realized on a client terminal (so-called cloud computing).

In addition, various information processing according to one embodiment can realize input and output corresponding to the input. Here, as long as an output is obtained as a result of the input, the type of information referenced in such information processing (hereinafter referred to as reference information) is not limited. Reference information can be, for example, rule-based information such as a database, lookup table, or predetermined function (including a decision formula such as a regression formula constructed using statistical methods), or it can be a trained model that has previously learned the correlation between input and output, or it can be a large-scale language model that can output a desired result by entering a prompt.

In one embodiment, a "unit" may also include, for example, hardware resources implemented by a circuit in the broad sense, and software information processing that can be specifically realized by these hardware resources. In one embodiment, various types of information are handled, and this information is represented, for example, by physical values of signal values representing voltage or current, high or low signal values as a collection of binary bits consisting of 0 or 1, or quantum superposition (so-called quantum bits), and communication and calculations can be performed on a circuit in the broad sense.

Furthermore, in the broad sense, a circuit is a circuit realized by at least an appropriate combination of a circuit, circuitry, processor, memory, etc. Furthermore, a processor may be a general-purpose processor or a dedicated circuit. That is, it includes application specific integrated circuits (ASICs), programmable logic devices (e.g., simple programmable logic devices (SPLDs), complex programmable logic devices (CPLDs), and field programmable gate arrays (FPGAs)), etc.

1. Hardware Configuration In Section 1, the hardware configuration of this embodiment will be described.

1-1. System 100
FIG. 1 is a configuration diagram showing a system 100. The system 100 includes an information processing device 200 and a construction 3D printer 300, which are connected via a network. These components will be further described. Here, a system exemplified as the system 100 is one that is made up of one or more devices or components. Therefore, for example, even the information processing device 200 alone can be a system exemplified as the system 100.

1-2. Information processing device 200
2 is a block diagram showing the hardware configuration of information processing device 200. Information processing device 200 has a control unit 210, a storage unit 220, a display unit 230, an input unit 240, and a communication unit 250, and these components are electrically connected via a communication bus 260 inside information processing device 200. Each component will be further described below.

The control unit 210 processes and controls the overall operations related to the information processing device 200. The control unit 210 is, for example, a central processing unit (CPU) not shown. The control unit 210 realizes various functions related to the information processing device 200 by reading out predetermined programs stored in the storage unit 220. In other words, information processing by software stored in the storage unit 220 is specifically realized by the control unit 210, which is an example of hardware, and can be executed as each functional unit included in the control unit 210. These will be explained further in Section 2. Note that the control unit 210 is not limited to being a single unit, and may be implemented with multiple control units 210 for each function. A combination of these may also be used.

The memory unit 220 stores various information necessary for the information processing of the information processing device 200. This may be implemented, for example, as a storage device such as a solid state drive (SSD) that stores various programs related to the information processing device 200 executed by the control unit 210, or as memory such as random access memory (RAM) that stores temporarily required information related to program calculations (arguments, arrays, etc.). It may also be a combination of these.

The display unit 230 may be included in the housing of the information processing device 200 or may be externally attached. The display unit 230 displays a graphical user interface (GUI) screen that can be operated by the user. This is preferably implemented by using display devices such as a CRT display, liquid crystal display, organic EL display, and plasma display, depending on the type of information processing device 200. In the following description, the display unit 230 will be described as being included in the housing of the information processing device 200.

The input unit 240 may be included in the housing of the information processing device 200, or may be externally attached. For example, the input unit 240 may be integrated with the display unit 230 and implemented as a touch panel. A touch panel allows the user to input tapping, swiping, and the like. Of course, switch buttons, a mouse, a QWERT keyboard, and the like may also be used instead of a touch panel. In other words, the input unit 240 accepts operational inputs made by the user. The inputs are transferred as command signals to the control unit 210 via the communication bus 260. The control unit 210 can then perform predetermined control and calculations as necessary.

The communication unit 250 is preferably a wired communication means such as USB, IEEE 1394, Thunderbolt (registered trademark), or wired LAN network communication, but may also include wireless LAN network communication, mobile communication such as 5G/LTE/3G, Bluetooth (registered trademark) communication, etc. as needed. In other words, it is more preferable to implement it as a collection of multiple communication means. In other words, the information processing device 200 communicates various information with the construction 3D printer 300 via the communication unit 250 and the network.

1-3. Construction 3D Printer 300
3 is a block diagram showing the hardware configuration of the construction 3D printer 300. The construction 3D printer 300 has a control unit 310, a memory unit 320, a communication unit 350, and a nozzle 370, and these components are electrically connected via a communication bus 360 inside the construction 3D printer 300. The explanation of the control unit 310, the memory unit 320, and the communication unit 350 is omitted because they are substantially the same as the explanation of the control unit 210, the memory unit 220, and the communication unit 250 in the information processing device 200.

Nozzle 370 is attached to the tip of a robot arm (not shown). Nozzle 370 ejects modeling material supplied from a supply pump (not shown). In other words, nozzle 370 is positioned according to the movement of the robot arm and ejects modeling material at the positioned position.

2. Functional Configuration In Section 2, the functional configuration of this embodiment will be described.

2-1. Functional configuration of information processing device 200 As described above, information processing by software stored in storage unit 220 is specifically realized by control unit 210, which is an example of hardware, and can be executed as each functional unit included in control unit 210.

Figure 4 is a block diagram showing the functions realized by the information processing device 200 (control unit 210). As described above, the information processing device 200 includes the control unit 210. Specifically, the information processing device 200 (control unit 210) is configured to be able to execute each step of the program of this embodiment. The information processing device 200 (control unit 210) includes an acquisition unit 211, a division unit 212, a processing unit 213, a generation unit 214, an arrangement unit 215, a measurement unit 216, an identification unit 217, a correction unit 218, and a calculation unit 219, corresponding to each step of the program of this embodiment.

Here, the program of this embodiment is a program used in the construction 3D printer 300. The program of this embodiment is configured to cause a computer such as the information processing device 200 to execute an acquisition step, a division step, a generation step, a placement step, a measurement step, an identification step, a correction step, and a calculation step.

The acquisition unit 211 is configured to acquire various information. The acquisition unit 211 is configured to execute an acquisition step. For example, the acquisition unit 211 acquires three-dimensional shape data representing the target shape of a three-dimensional object to be created by the construction 3D printer 300.

The dividing unit 212 is configured to divide various pieces of information. The dividing unit 212 is configured to execute a dividing step. For example, the dividing unit 212 divides part or all of the acquired three-dimensional shape data into multiple slice data. Here, the slice data is data having an arbitrary thickness in the forming direction of the three-dimensional object. The slice data has an external contour corresponding to the outer surface of the three-dimensional object.

The generation unit 214 is configured to generate various information. The generation unit 214 is configured to execute a generation step. For example, the generation unit 214 generates a tool path, which is the movement path of the nozzle 370 used in the construction 3D printer 300. The process of generating the tool path includes an adjustment process that adjusts the target shape of the three-dimensional object based on one or more slice data.

The placement unit 215 is configured to place various pieces of information. The placement unit 215 is configured to execute a placement step. For example, the placement unit 215 places judgment data at predetermined intervals on the outer contour of the slice data.

The identification unit 217 is configured to identify various information. The identification unit 217 is configured to execute an identification step. For example, the identification unit 217 identifies an area on the slice data where the filling rate of the modeling material ejected from the nozzle 370 moving along the tool path is insufficient.

The correction unit 218 is configured to correct various information. The correction unit 218 is configured to perform a correction step. For example, the correction unit 218 performs at least one of the following corrections for the identified region: tool path position correction, nozzle 370 movement speed correction, and nozzle 370 diameter correction.

The calculation unit 219 is configured to calculate various information. The calculation unit 219 is configured to execute calculation steps. For example, the calculation unit 219 performs structural calculation of a three-dimensional object based on the acquired three-dimensional shape data and reference information. The reference information is information that indicates the relationship between the three-dimensional shape data and the results of structural calculation of a three-dimensional object that is formed using the three-dimensional shape data.

2-2. Functional Configuration of the Construction 3D Printer 300 As described above, information processing by the software stored in the storage unit 320 is specifically realized by the control unit 310, which is an example of hardware, and can be executed as each functional unit included in the control unit 310.

Figure 5 is a block diagram showing the functions realized by the construction 3D printer 300 (control unit 310). As described above, the construction 3D printer 300 is equipped with a control unit 310. Specifically, the construction 3D printer 300 (control unit 310) is configured to be able to execute each step of the manufacturing method of this embodiment. The construction 3D printer 300 (control unit 310) is equipped with an acquisition unit 311 and a nozzle control unit 312 in accordance with the manufacturing method of this embodiment.

Here, the manufacturing method of this embodiment is a method for manufacturing a three-dimensional object, which is executed by the construction 3D printer 300. The manufacturing method of this embodiment includes an acquisition step and a nozzle control step, and is configured to be executed by the construction 3D printer 300.

The acquisition unit 311 is configured to acquire various information. The acquisition unit 311 is configured to execute an acquisition step. For example, the acquisition unit 311 acquires a tool path generated by the program of this embodiment.

The nozzle control unit 312 is configured to control the operation of the nozzle 370. The nozzle control unit 312 is configured to execute nozzle control steps. For example, the nozzle control unit 312 ejects a modeling material from the nozzle 370 in the construction 3D printer 300 and moves the nozzle 370 according to the acquired tool path. In other words, the nozzle control unit 312 controls the operation of the nozzle 370 according to the acquired tool path.

3. Information Processing Method In Section 3, the flow of information processing by the information processing device 200 and the construction 3D printer 300 described above will be explained.

3-1. Information processing method 1
6 is an activity diagram showing the flow of information processing executed by the information processing device 200. Below, an explanation will be given along with each activity in this activity diagram.

First, the control unit 210 in the information processing device 200 acquires three-dimensional shape data representing the target shape of the three-dimensional object to be formed by the construction 3D printer 300 (activity A110). The three-dimensional shape data may be read (acquired) from the storage unit 220, received (acquired) from another information processing device, or transferred (acquired) from a recording medium such as a USB memory. Rephrasing this activity as a step, in the acquisition step, three-dimensional shape data representing the target shape of the three-dimensional object to be formed by the construction 3D printer 300 is acquired.

In activity A110, for example, the following two-stage information processing is performed: (1) The communication unit 250 receives three-dimensional shape data transmitted from another information processing device. (2) The control unit 210 stores the received three-dimensional shape data in the memory unit 220.

Next, the control unit 210 in the information processing device 200 divides some or all of the acquired three-dimensional shape data into multiple slice data (activity A120). That is, when forming a three-dimensional object by dividing it into multiple parts, it is possible to divide only a portion of the three-dimensional shape data. Here, the slice data is data having an arbitrary thickness in the forming direction of the three-dimensional object. The slice data also has an external contour corresponding to the outer surface of the three-dimensional object. The slice data may have a thickness that includes only a first forming layer, which is a layer formed corresponding to a first height of the nozzle 370, or may have a thickness that includes, in addition to the first forming layer, a second forming layer, which is a layer formed corresponding to a second height of the nozzle that is different from the first height. In other words, this activity can be expressed as a step. In the dividing step, some or all of the three-dimensional shape data is divided into multiple slice data.

In this embodiment, the terms "three-dimensional shape data," "slice data," and "external contour" are used, so the definitions of each term are provided below. Three-dimensional shape data is data that three-dimensionally represents the target shape of a three-dimensional object. Slice data is data that has been sliced (divided) from three-dimensional shape data at an arbitrary thickness. Therefore, three-dimensional shape data can be expressed by overlapping multiple slice data. The external contour can sometimes be synonymous with slice data. When external contour 511 and external contour 512 exist as in Figure 9 (A), each of external contour 511 and external contour 512 becomes an external contour, and the combined concept of external contour 511 and external contour 512 is referred to as slice data.

Activity A120 also allows for the thickness of slice data to be adjusted. For example, the control unit 210 in the information processing device 200 varies the thickness of the slice data depending on the dimensions of each part constituting the three-dimensional object. In other words, this activity can be expressed as a step. In the division step, the thickness of multiple slice data is reduced depending on the dimensions of the parts constituting part or all of the three-dimensional object. For example, if the three-dimensional object is a catchment area, the connecting hole (a hole connecting a gutter to a drainage pipe) in the catchment area must be able to reliably channel water from the gutter to the drainage pipe, and therefore requires high dimensional accuracy. Dividing the three-dimensional shape data of the catchment area into slice data of a specified thickness (e.g., 10 mm) can result in dimensional discrepancies of several millimeters. Therefore, by reducing the thickness of multiple slice data (some or all of the slice data) to a thickness thinner than the specified thickness (e.g., 4 mm), it is possible to match the dimensions of the connecting hole and further reduce the impact of variations in the thickness of the slice data on the accuracy of the shape of the connecting hole. According to this aspect, by adjusting the height direction for a plurality of layers, it is possible to express the final height dimension of a three-dimensional object, which is difficult to express with a specified height.

In activity A120, for example, the following three-stage information processing is performed: (1) The control unit 210 reads the received three-dimensional shape data (and height information) from the memory unit 220. (2) The control unit 210 performs a division process to divide the three-dimensional shape data into multiple slice data. (3) The control unit 210 stores the divided multiple slice data in the memory unit 220.

The control unit 210 in the information processing device 200 then executes an adjustment process (activity A130) that adjusts the target shape of the three-dimensional object based on one or more divided slice data. The adjustment process is executed during the process of generating the tool path in activity A140, and may be a variety of processes, details of which will be described later. As an example, in the adjustment process, it is preferable to apply fillets to corners in the tool path. This configuration can reduce the acceleration and deceleration of nozzle movement at corners. Therefore, nozzle movement at corners can be smoothed.

In activity A130, for example, the following three stages of information processing are performed: (1) The control unit 210 reads multiple slice data from the memory unit 220. (2) The control unit 210 performs an adjustment process on the multiple slice data. (3) The control unit 210 stores the slice data after the adjustment process in the memory unit 220.

Next, the control unit 210 of the information processing device 200 generates a tool path, which is the movement path of the nozzle 370 used in the construction 3D printer 300, based on the adjustment process (activity A140). Rephrasing this activity as a step, in the generation step, the tool path, which is the movement path of the nozzle 370 used in the construction 3D printer 300, is generated based on the adjustment process. Here, in the generation step, it is preferable to generate a tool path that avoids the positions of objects to be placed in the three-dimensional object. Here, the object is an object other than the molding material used to form the three-dimensional object, and is placed in the three-dimensional object. In other words, when reinforcing the three-dimensional object with rebar or support material, avoiding the reinforced areas can avoid distortion of the three-dimensional object. Therefore, according to this aspect, dimensional errors in the three-dimensional object can be avoided by using a tool path that takes into account the volume and position of the objects to be mounted in advance.

In activity A140, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the slice data after adjustment processing from the memory unit 220. (2) The control unit 210 executes generation processing to generate a tool path. (3) The control unit 210 stores the generated tool path in the memory unit 220.

Next, the control unit 210 in the information processing device 200 identifies areas where the filling rate of the modeling material dispensed from the nozzle 370 is insufficient (activity A150). The nozzle 370 dispenses the modeling material while moving along the tool path, but depending on the positional relationship between the outer contour and the tool path, areas in the slice data where the modeling material cannot be sufficiently filled may occur. Activity A150 executes a process to identify such areas. In other words, this activity can be expressed as a step, and in the identification step, areas where the filling rate of the modeling material dispensed from the nozzle 370 moving along the tool path is insufficient are identified.

In activity A150, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the generated tool path from the memory unit 220. (2) The control unit 210 performs identification processing to identify areas where the filling rate of the modeling material is insufficient. (3) The control unit 210 stores information about the identified areas in the memory unit 220.

Next, the control unit 210 in the information processing device 200 performs a correction process on the identified area (activity A160). This correction represents at least one of the following: correction of the tool path position, correction of the nozzle 370 movement speed, and correction of the nozzle 370 diameter. Details of this correction will be explained in Figure 7 below. In other words, this activity can be rephrased as a step, and in the correction step, at least one of the following is performed on the identified area: correction of the tool path position, correction of the nozzle 370 movement speed, and correction of the nozzle 370 diameter.

In activity A160, for example, the following four stages of information processing are performed: (1) The control unit 210 reads the tool path and information on the identified area from the memory unit 220. (2) The control unit 210 performs correction processing on the area. (3) The control unit 210 applies the information on the area after the correction processing to the tool path. (4) The control unit 210 stores the corrected tool path in the memory unit 220.

According to activities A150 to A160, it is possible to more reliably generate a tool path that can be drawn in one stroke even for shapes that are difficult to draw in one stroke.

Next, the control unit 210 in the information processing device 200 creates a G-code based on the corrected tool path and sends the G-code to the construction 3D printer 300 (activity A170).

In activity A170, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the corrected tool path from the memory unit 220. (2) The control unit 210 executes a creation process and creates G-code based on the corrected tool path. (3) The control unit 210 transmits the created G-code to the construction 3D printer 300 via the communication unit 250.

Figure 7 shows the processing of activities A150 to A160. Slice data 400 includes outer contour 410 and outer contour 440.

External contour 440 does not include an area identified as an area where tool path 450 is generated and the fill rate of the modeling material ejected from nozzle 370 is insufficient. On the other hand, external contour 410 includes area 430, identified as an area where tool path 420 is generated and the fill rate of the modeling material ejected from nozzle 370 is insufficient. In other words, because the distance between path 421 and path 422 in area 430 is too wide, it would be difficult to sufficiently fill area 430 with modeling material if normal control were applied to nozzle 370. Therefore, at least one of the following corrections is performed on area 430: position correction of tool path 420, correction of the movement speed of nozzle 370, and correction of the diameter of nozzle 370. These corrections are performed in an appropriate combination.

The following describes the position correction of tool path 420. Here, at least one of paths 421 and 422 adjacent to region 430 is moved to narrow region 430, or at least one of paths 421 and 422 is made into an acute-angled shape (zigzag shape) by making sharp turns in alternating directions. This correction improves the filling rate of the modeling material in region 430.

The following describes the correction of the movement speed of the nozzle 370. Here, by slowing the movement speed of the nozzle 370 in at least one of paths 421 and 422 adjacent to region 430 compared to path 423, more modeling material is ejected per unit area. This correction improves the filling rate of modeling material in region 430.

The correction of the diameter of the nozzle 370 is now explained. Here, a simulation is performed using multiple nozzle diameter candidates, and the nozzle diameter with the highest filling rate is selected. More specifically, the width W of the region 430 in the tool path 420 is calculated, and if the region 430 can be moved back and forth, W/2 is selected as the nozzle diameter; if it cannot be moved back and forth, W is selected. This correction improves the filling rate of the modeling material throughout the entire outer contour 410.

Here, in various prior art technologies such as those disclosed in Patent Documents 3 and 4, there is no concept of more reliably improving the filling rate of a specified region (hereinafter referred to as a "specific region") where the filling rate of the build material is insufficient. For example, Patent Document 3 discloses forming a structure with the designed thickness, but does not consider improving the filling rate of the build material in a specific region. Furthermore, Patent Document 4 discloses setting a new path by moving a position from the original path position toward an adjacent path section, but does not consider appropriately combining various corrections. In contrast, in this embodiment, various corrections are appropriately combined for a specific region, thereby more reliably improving the filling rate. Therefore, this embodiment is advantageous in that it easily improves the quality of three-dimensional objects.

3-2. Information processing method 2
FIG. 8 is an activity diagram showing the flow of information processing executed by information processing device 200. FIG. 9 is a diagram showing an example of the processing of each activity in FIG. 8. Each activity in FIG. 8 represents processing defined in activity A130. That is, each processing described in section 3-2 is included in the process of generating a tool path. For convenience of explanation, each activity in FIG. 8 may include processing of activity A140. The following explanation will be given along with each activity in this activity diagram.

First, the control unit 210 in the information processing device 200 places judgment data at a predetermined interval on the external contour 510 corresponding to the outer surface of the three-dimensional object (activity A210). In this embodiment, the external contour 510 is assumed to be composed of external contours 511 and 512, as shown in FIG. 9A. Here, the judgment data is data for determining contact with the search data 520. The placement interval (predetermined interval) of the search data 520 may be smaller than the diameter of the search data 520. The judgment data is represented by discrete points and is used for collision detection so that the search data 520 does not penetrate the external contour 510. The placement interval of the search data 520 may be set appropriately. The wider the placement interval, the faster the search process described below can be executed, and the narrower the placement interval, the more accurate the generated tool path can be. The search data 520 will be described later. In other words, this activity can be expressed as a step. In the placement step, judgment data is placed at a predetermined interval on the external contour 510 and the trajectory 530 described below.

In activity A210, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the divided slice data from the storage unit 220. (2) The control unit 210 performs placement processing and places judgment data at predetermined intervals on the external contour 510 corresponding to the outer surface of the three-dimensional object. (3) The control unit 210 stores the slice data in which the judgment data has been placed (hereinafter also referred to as "slice data after placement processing") in the storage unit 220.

Next, the control unit 210 in the information processing device 200 executes a search process (activity A230), which is a process of moving the search data 520 from the identified movement start position inside the outer contour 510. Here, the search data 520 is defined to have a diameter twice the diameter of the nozzle 370. This allows a round-trip path, described below, to be generated for the trajectory 530 of the search data 520.

The search process is a process of moving the search data 520 so that the trajectory 530 of the search data 520 does not overlap, and more specifically, includes a process of moving the search data 520 so that it follows the inner surface of the outer contour 510, and a process of moving the search data 520 so that it follows the inner surface of the trajectory 530 of the search data 520. The process in activity A230 is an example of an adjustment process.

Furthermore, in activity A230, if search data 520 comes into contact with judgment data placed in activity A210, a process is executed to change the direction of travel of search data 520 and move search data 520. According to this aspect, search data 520 can be moved so as not to penetrate the outer contour of the slice data.

An example of activity A230 is shown in Figure 9(B). Search data 521 moves along trajectory 533 along the inner surface of outer contour 511, and becomes unable to move at a point where it changes direction to avoid overlapping trajectory 533. Next, search data 522 moves from a different position along trajectory 534 along the inner surface of outer contour 511.

In activity A230, for example, the following three stages of information processing are performed. (1) The control unit 210 reads the slice data after the placement process from the memory unit 220. (2) The control unit 210 performs a search process and moves the search data 520 from the identified movement start position so as to follow the inner surface of the external contour 510 and the inner surface of the trajectory 530 and not overlap the trajectory 530. (3) The control unit 210 stores the slice data linked to the trajectory 530 of the search data 520 (hereinafter also referred to as "slice data after the search process") in the memory unit 220.

According to the aspect of activity A230, a single-stroke tool path can be generated for three-dimensional objects of various shapes or three-dimensional objects with remote islands, while preferentially filling in the area around the external contour 510.

Next, the control unit 210 in the information processing device 200 determines whether the search data 520 can be moved (activity A240). The search data 520 is moved so as not to overlap with the trajectory 530, and therefore will eventually become unmovable. The control unit 210 may determine that the search data 520 cannot be moved, for example, if five seconds have passed since the drawing of the trajectory 530 stopped and no new trajectory 530 has been drawn. The threshold for the determination may be, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, or 30 seconds, or may be within a range between any two of the values exemplified here.

If the search data 520 can be moved, the control unit 210 continues processing activity A230 (YES in activity A240). If the search data 520 cannot be moved, the control unit 210 proceeds to processing activity A250 (NO in activity A240). In other words, in the adjustment process, the search process is performed until the search data 520 cannot be moved.

In activity A240, for example, the following four stages of information processing are executed. (1) The control unit 210 reads out the slice data after the search process from the memory unit 220. (2) The control unit 210 continues the search process and moves the search data 520. (3) If a new trajectory 530 is not drawn even after the threshold is exceeded, the control unit 210 determines that movement is impossible. (4) The control unit 210 stores in the memory unit 220 the slice data linked to the trajectory 530 up until it is determined that movement is impossible (hereinafter also referred to as "slice data before determination").

Next, the control unit 210 in the information processing device 200 determines whether the search data 520 can be moved within the slice data (within each outer contour 510) (activity A250). If there is an area where the search data 520 can be moved, the control unit 210 proceeds to processing activity A210 (YES in activity A250). If the answer is YES in activity A250, the control unit 210 moves the search data 520 from a new position in activity A230. In other words, in the adjustment process for activity A230, if the search data 520 cannot be moved, the search process is further performed from a different position.

If there is no area in which the search data 520 can move, the control unit 210 proceeds to processing activity A260 (NO in activity A250). For example, when the search data 520 has finished moving within the outer contour 511, even if there is no area in which it can move within the outer contour 511, if there is an area in which it can move within the outer contour 512, the result will be YES in activity A250.

Figure 9 (C) shows an example of NO for activity A250. The search data 520 draws trajectories 533, 534, and 535, and there is no more space available for movement.

Next, the control unit 210 in the information processing device 200 generates a round-trip path 540, which is a path along which the nozzle 370 can travel back and forth, for each trajectory 530 of the search data 520 (activity A260). As described above, the search data 520 is defined to have a diameter twice the diameter of the nozzle 370, so a round-trip path 540 can be generated for each trajectory 530. In other words, in the generation step, when there is no more area in the slice data in which the search data 520 can move, a round-trip path 540, which is a path along which the nozzle 370 can travel back and forth, is generated for each trajectory 530.

Figure 9 (D) shows an example of activity A260. A round-trip path 543 was generated for trajectory 533. A round-trip path 544 was generated for trajectory 534. A round-trip path 545 was generated for trajectory 535. In other words, in activity A260, two paths parallel to the longitudinal direction of trajectory 530 were generated within trajectory 530.

In activity A260, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the pre-determination slice data from the memory unit 220. (2) The control unit 210 performs a generation process to generate, for each trajectory 530, a round-trip path 540 along which the nozzle 370 can travel. (3) The control unit 210 stores each of the generated round-trip paths 540 in the memory unit 220.

Next, the control unit 210 in the information processing device 200 integrates each round-trip path 540 (activity A270). Taking round-trip path 543 and round-trip path 544 as an example, the control unit 210 executes the following process. First, the control unit 210 cuts each round-trip path 540 at an arbitrary position. Next, the control unit 210 rotates at least one of round-trip path 543 and round-trip path 544 so that the third end, which is one end of round-trip path 543, and the fourth end, which is one end of round-trip path 544, are brought close to each other. Next, the control unit 210 connects and integrates the third end and the fourth end.

Figures 9 (E) to (G) show an example of activity A270. As shown in Figure 9 (E), round trip paths 543 and 544 are integrated in integrated portion 551. As shown in Figure 9 (F), the integrated round trip paths are integrated in integrated portion 552. Furthermore, round trip paths within outer contour 512 are integrated in integrated portion 553. As shown in Figure 9 (G), round trip paths within outer contour 511 and outer contour 512 are integrated in integrated portion 554. In this way, round trip paths 540 within the slice data (within each outer contour 510) are integrated.

In other words, in the adjustment process, for each reciprocating path 540 (path), at least one of reciprocating path 543 and reciprocating path 544 (path) is rotated so that, for example, the third end, which is one end of reciprocating path 543 (path), and the fourth end, which is one end of reciprocating path 544 (another path), are brought closer together. In the generation step, the reciprocating path 543 and the reciprocating path 544 (each path) are integrated by connecting the third end and the fourth end, and a tool path is generated in activity A140.

Figure 9 (H) shows an example of activity A140 after activity A270. The integrated round-trip path (tool path) is assigned a start point 561 and an end point 562 for the movement of the nozzle 370. At this time, the start point 561 and the end point 562 may define the tool path as a path that moves the nozzle 370 in the infill in the printing direction when moving the nozzle 370 from the third printing layer, which is a layer printed corresponding to the third height of the nozzle 370, to the fourth printing layer, which is a layer printed corresponding to the fourth height of the nozzle 370 that is different from the third height. The tool path may also be a path that moves the nozzle so that the outer contour 510 is printed before the infill in the same layer.

In this manner, when modeling of a certain layer is completed and the nozzle 370 is moved to the next layer, the nozzle 370 is Z-hopped starting from the infill. This prevents clumps of modeling material that occur when the nozzle 370 Z-hops from forming on the outer contour 510, thereby improving the aesthetic appearance of the three-dimensional model compared to conventional methods.

Furthermore, when the nozzle 370 is Z-hopped from one layer to the next, it is preferable to move the nozzle 370 so as to vary its coordinates in the XY plane. That is, it is preferable that the tool path be a path that moves the nozzle 370 in the printing direction so as to vary its coordinates parallel to the printing layer. Here, the shape of the tool path is not particularly limited as long as it varies the coordinates in the XY plane when the nozzle 370 is Z-hopped. For example, it may be linear, arc-shaped, or S-shaped. According to this embodiment, the speed change of the nozzle 370 in the XY plane (the coordinate plane parallel to the printing layer) can be reduced even when the nozzle 370 is Z-hopped. This makes it possible to prevent the local formation of clumps, which tend to occur when the nozzle 370 is Z-hopped.

Furthermore, it is preferable that the tool path is a path that moves the nozzle 370 starting from the infill in the same layer. In this manner, since the starting point is not the external contour, overfilling during Z-hop can be avoided. In addition, the impact on the build quality due to variations in the nozzle movement during Z-hop can be avoided.

In addition, during the adjustment process, it is preferable to adjust the movement path of the nozzle 370 so as to prioritize conditions favorable for ensuring the accuracy of the shape of the 3D object for locations specified in the outer contour. In other words, during the adjustment process, it is preferable to adjust the tool path so as to assign favorable conditions for ensuring the required conditions for areas of the 3D object's outer contour where high accuracy in the finished dimensions is required, or areas where aesthetics are particularly important (areas where the effects of pattern distortion, shrinkage and cracking due to drying, wrinkles and dragging that occur during the modeling process, etc., need to be minimized). Here, advantageous conditions include, for example, placing parts of the same modeling layer in an earlier order of modeling, but may also be selected appropriately depending on the shape of the 3D object, the working environment, and other factors. According to this aspect, it is possible to specify locations where it is necessary to prioritize ensuring the finished dimensions.

Furthermore, it is preferable that the adjustment process adjusts the connection points between the infill and the external contour. In this manner, the location of wrinkles that occur at the connection points can be adjusted.

In activity A270, for example, the following three stages of information processing are performed: (1) The control unit 210 reads each round-trip path 540 from the memory unit 220. (2) The control unit 210 performs an integration process to integrate each round-trip path 540. (3) The control unit 210 stores the integrated round-trip path 540 in the memory unit 220.

According to information processing method 2, complex tool paths can be generated while ensuring single-stroke drawing.

3-3. Information processing method 3
FIG. 10 is an activity diagram showing the flow of information processing executed by the information processing device 200. FIG. 11 is a diagram showing an example of the processing of each activity in FIG. 10. Each activity in FIG. 10 indicates processing defined in activity A130. That is, each processing described in Section 3-3 is included in the process of generating a tool path. For convenience of explanation, each activity in FIG. 10 may include processing of activity A140. The following explanation will be given along with each activity in this activity diagram.

First, the control unit 210 in the information processing device 200 generates a parallel path 620 parallel to the path seed 610 (external contour) at a position the diameter of the nozzle 370 away from the path seed 610 (external contour) (activity A310). As shown in FIG. 11(A), the path seeds 611 and 612 may be synonymous with the external contour. The generated parallel path 620 can become the movement path of the nozzle 370 by being generated at a position the diameter of the nozzle 370 away from the path seed 610.

As shown in Figure 11 (B), a parallel path 620 is generated, which is a path parallel to path seed 611 and path seed 612. Parallel paths 621 and 622 are generated so as to sandwich path seed 611. Parallel paths 623 and 624 are generated so as to sandwich path seed 612. In other words, this activity involves generating parallel path 620, which is a path parallel to path seed 610 (external contour), at a position the diameter of the nozzle 370 away from path seed 610 (external contour).

Here, we will explain "generating at a position the diameter of the nozzle 370." For example, if the diameter of the nozzle 370 is 10 cm, this means that a parallel path 620 centered 10 cm away from the path seed 610 is generated. Therefore, when the nozzle 370 moves along the parallel path 620, the modeling material will be filled within a range of 5 cm from the center of the parallel path 620. Since the outer contour ultimately becomes the tool path, when the nozzle 370 moves along the outer contour, the modeling material will be filled within a range of 5 cm from the center of the outer contour. Therefore, when the nozzle 370 moves along the outer contour and the parallel path 620, the filling rate of the modeling material in the area from the outer contour to the parallel path 620 will be constant.

In activity A310, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the divided slice data from the memory unit 220. (2) The control unit 210 performs a generation process to generate a parallel path 620 parallel to the path seed 610 at a position spaced apart from the path seed 610 by the diameter of the nozzle 370. (3) The control unit 210 stores the generated parallel path 620 in the memory unit 220.

Next, the control unit 210 in the information processing device 200 cuts the parallel path 620 at the point where it intersects with the parallel path 620 or the path seed 610, or at the point where it shows a bend of a predetermined angle or more (activity A320). As shown in Figure 11 (C), the parallel path 620 is divided into cut paths 630, namely, longest path 631, cut path 632, cut path 633, cut path 634, cut path 635, and cut path 636, by the cutting process.

The specified angle may be set according to the specifications of the construction 3D printer 300, and may be, for example, 30°, preferably 45°, or more preferably 60°. Specific examples include 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, and 90°, and may be within a range between any two of the values exemplified here.

Here, parallel paths 621 and 624 are deleted because they are paths generated outside the external contour. In other words, activity A320, in the adjustment process, parallel path 620 is cut at the point where it intersects with parallel path 620 or path seed 610 (external contour), or at the point where it shows a bend of a predetermined angle or more.

In activity A320, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the parallel path 620 from the memory unit 220. (2) The control unit 210 performs a cutting process to cut the parallel path 620 into a cut path 630. (3) The control unit 210 stores the cut path 630 in the memory unit 220.

Next, the control unit 210 in the information processing device 200 leaves the longest path 631, which is the longest path among the cutting paths 630, and deletes cutting paths 632, 633, 634, 635, and 636 (other paths) (activity A330). Figure 11 (D) shows a state in which the longest path 631 is left. In other words, in the adjustment process, the adjustment process leaves the longest path 631, which is the longest cutting path 630 among the cutting paths 630 arranged inside the outer contour, and deletes cutting paths 632, 633, 634, 635, and 636.

In activity A330, for example, the following three-stage information processing is performed: (1) The control unit 210 reads out the cutting path 630 from the memory unit 220. (2) The control unit 210 performs a deletion process, leaving only the longest path 631, which is the longest path among the cutting paths 630, and deleting cutting paths 632, 633, 634, 635, and 636. (3) The control unit 210 erases cutting paths 632, 633, 634, 635, and 636 from the memory unit 220, and stores the longest path 631 in the memory unit 220.

Next, the control unit 210 in the information processing device 200 determines whether a new path can be generated using the path seed 610 (activity A340). If a new path can be generated, the control unit 210 proceeds to processing activity A350 (YES in activity A340).

Next, the control unit 210 in the information processing device 200 further generates a parallel path 640 parallel to the path seed 610 at a position the diameter of the nozzle 370 away from the path seed 610 (activity A350). As shown in FIG. 11(E), the path seed 610 is composed of path seeds 611, 612, and 613, including the longest path 631. Then, as shown in FIG. 11(F), a parallel path 640 is further generated, which is a path parallel to the path seed 610. In other words, in the adjustment process, a parallel path 640 is further generated, which is a path parallel to the path seeds 611 and 612 (external contours), at a position the diameter of the nozzle 370 away from the path seeds 611 and 612 (external contours), and a parallel path 640 is further generated, which is a path parallel to the path seed 613 (longest path), at a position the diameter of the nozzle 370 away from the path seed 613 (longest path).

In activity A350, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the path seed 610 from the memory unit 220. (2) The control unit 210 performs a generation process to generate a parallel path 640, which is a path parallel to the path seed 610. (3) The control unit 210 stores the parallel path 640 in the memory unit 220.

The control unit 210 repeats the processing of activities A320 to A350 until a new path cannot be generated. If a new path cannot be generated, the control unit 210 proceeds to the processing of activity A360 (NO at activity A340). As shown in Figure 11 (G), a path seed 650 is generated in the slice data, and no more paths can be generated. In other words, this activity continues the adjustment processing until a new path cannot be generated.

Next, the control unit 210 in the information processing device 200 integrates the respective path seeds 650 (activity A360). As shown in FIG. 11 (H), the respective path seeds 650 are integrated to generate a tool path 660. Each path seed 650 is a concept that includes an external contour and its respective longest path. In other words, this activity can be expressed as a step: in the generation step, the external contour and its respective longest path are integrated to generate a tool path.

In activity A360, for example, the following three stages of information processing are performed: (1) The control unit 210 reads each path seed 650 from the memory unit 220. (2) The control unit 210 performs integration processing and generates the tool path 660. (3) The control unit 210 stores the tool path 660 in the memory unit 220.

According to information processing method 3, a tool path with fewer bends can be generated by performing a process to cut the parallel path 620 at points where it intersects with the parallel path 620 or the path seed 610 (external contour), or at points where it shows a bend of a predetermined angle or more. This reduces the acceleration and deceleration of the nozzle 370, thereby preventing a decrease in the accuracy of the shape of the three-dimensional object due to acceleration and deceleration of the nozzle 370.

3-4. Information processing method 4
FIG. 12 is an activity diagram showing the flow of information processing executed by the information processing device 200. Each activity in FIG. 12 represents a process defined in activity A130. That is, each process described in Section 3-4 is included in the process of generating a tool path. For convenience of explanation, each activity in FIG. 12 may include the process of activity A140. The following explanation will be given along with each activity in this activity diagram.

First, the control unit 210 in the information processing device 200 generates multiple paths that are part of the movement path of the nozzle 370 inside the outer contour in the slice data (activity A410). In other words, in the adjustment process, multiple paths that are part of the movement path of the nozzle 370 are generated in the slice data.

In activity A410, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the divided slice data from the memory unit 220. (2) The control unit 210 executes a generation process to generate multiple paths inside the outer contour of the slice data. (3) The control unit 210 stores the generated multiple paths in the memory unit 220.

Next, the control unit 210 in the information processing device 200 cuts each of the generated paths at the point that shows the largest angle among them (activity A420). In other words, in the adjustment process, each of the paths is cut at the point that shows the largest angle among them.

In activity A420, for example, the following three-stage information processing is performed: (1) The control unit 210 reads the generated paths from the memory unit 220. (2) The control unit 210 performs a cutting process and cuts each path at the point showing the largest angle among the paths. (3) The control unit 210 stores each cut path in the memory unit 220.

Next, the control unit 210 in the information processing device 200 integrates the multiple disconnected paths by connecting a first end, which is one end of one of the disconnected paths, to a second end, which is one end of another of the disconnected paths (activity A430). In other words, in the generation step, the multiple paths are integrated by connecting a first end, which is one end of one of the disconnected paths, to a second end, which is one end of another of the disconnected paths, to generate a tool path.

In activity A430, for example, the following three-stage information processing is performed: (1) The control unit 210 reads each disconnected path from the memory unit 220. (2) The control unit 210 executes a consolidation process to consolidate multiple disconnected paths. (3) The control unit 210 stores the consolidated paths in the memory unit 220.

Information processing method 4 allows the cutting sections to be connected at the point with the largest angle in the path, making it possible to reduce the angle of corners in the tool path. This reduces the acceleration and deceleration of the nozzle 370 at corners, thereby improving the aesthetic appearance of the three-dimensional object.

3-5. Information processing method 5
FIG. 13 is an activity diagram showing the flow of information processing executed by information processing device 200. FIG. 14 is a diagram showing an example of the activity processing in FIG. 13. Each activity in FIG. 13 indicates processing defined in activity A130. That is, each processing described in Section 3-5 is included in the process of generating a tool path. For convenience of explanation, each activity in FIG. 13 may include processing of activity A140. The following explanation will be given along with each activity in this activity diagram.

First, the control unit 210 in the information processing device 200 uses a polar coordinate system with the center of the slice data as the origin 720 to generate multiple paths 730, which are part of the movement path of the nozzle 370, so that concentric circles centered on the origin 720 overlap (activity A510). As shown in FIG. 14, the origin 720 is set at the center of the slice data (the center of the outer contour 710), and multiple paths 730 are created by overlapping multiple concentric circles centered on the origin 720. In other words, in the adjustment process, the control unit 210 uses a polar coordinate system with the center of the slice data as the origin 720 to generate multiple paths 730, which are part of the movement path of the nozzle 370, so that concentric circles centered on the origin 720 overlap.

In activity A510, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the divided slice data from the storage unit 220. (2) The control unit 210 executes a generation process to generate multiple concentric paths 730. (3) The control unit 210 stores the generated multiple paths 730 in the storage unit 220.

Next, the control unit 210 in the information processing device 200 integrates the multiple paths 730 that have been generated (activity A520). The multiple paths 730 are, for example, cut at any point, and the cut portions are integrated to form a tool path. In other words, this activity can be expressed as a step: in the generation step, the multiple paths 730 are integrated to generate a tool path.

In activity A520, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the generated multiple paths 730 from the memory unit 220. (2) The control unit 210 performs an integration process to integrate the multiple paths 730. (3) The control unit 210 stores the integrated multiple paths 730 in the memory unit 220.

According to information processing method 5, it can be suitably used for three-dimensional objects having a circular shape.

3-6. Information processing method 6
Fig. 15 is an activity diagram showing the flow of information processing executed by the information processing device 200. Fig. 16 is a diagram showing an example of the activity processing in Fig. 15. Each process described in Section 3-6 is included in the process of generating a tool path. The following will be explained along with each activity in this activity diagram.

First, the control unit 210 in the information processing device 200 acquires three-dimensional shape data 800 representing the target shape of the three-dimensional object to be formed by the construction 3D printer 300 (activity A610). The three-dimensional shape data 800 may be read (acquired) from the storage unit 220, received (acquired) from another information processing device, or transferred (acquired) from a recording medium such as a USB memory. Rephrasing this activity as steps, in the acquisition step, the three-dimensional shape data 800 representing the target shape of the three-dimensional object to be formed by the construction 3D printer 300 is acquired.

In activity A610, for example, the following two-stage information processing is performed: (1) The communication unit 250 acquires three-dimensional shape data 800 transmitted from another information processing device. (2) The control unit 210 stores the acquired three-dimensional shape data 800 in the memory unit 220.

Next, the control unit 210 in the information processing device 200 performs structural calculations of the three-dimensional object based on the three-dimensional shape data 800 and the reference information (activity A620). Here, the reference information is information that indicates the relationship between the three-dimensional shape data and the results of the structural calculations. The reference information may be a trained model that has been trained using the relationship between the three-dimensional shape data and the results of the structural calculations as training data. In other words, this activity is a step, and in the calculation step, structural calculations of the three-dimensional object are performed based on the three-dimensional shape data 800 and the trained model (reference information).

In activity A620, for example, the following three stages of information processing are performed: (1) The control unit 210 reads the acquired three-dimensional shape data 800 from the memory unit 220. (2) The control unit 210 executes arithmetic processing and performs structural calculations of a three-dimensional object using the three-dimensional shape data 800 as the target shape. (3) The control unit 210 stores the results of the structural calculations in the memory unit 220.

Next, the control unit 210 in the information processing device 200 generates display information 810 suggesting modifications to the three-dimensional shape data 800 based on the results of the structural calculations (activity A630). If the structural strength of a three-dimensional structure whose target shape is the three-dimensional shape data 800 is low, display information 810 is displayed, stating "Structural strength appears to be low. Please increase the wall thickness by 5 cm," as shown in FIG. 16. The display information 810 may be in an intuitively understandable form, such as letters, symbols, signs, or designs, or in a more specialized form, such as a compiler warning. In other words, this activity can be expressed as a step. In the generation step, display information 810 suggesting modifications to the three-dimensional shape data 800 is generated based on the results of the structural calculations.

According to information processing method 6, even users who are unfamiliar with creating 3D shape data can reduce the burden of creating 3D shape data through appropriate feedback. This makes it easier than ever to improve the accuracy of the shape of the 3D object created by the construction 3D printer 300.

3-7. Information processing method 7
17 is an activity diagram showing the flow of information processing executed by the construction 3D printer 300. This information processing shows a method for manufacturing a three-dimensional object executed by the construction 3D printer 300. Below, an explanation will be given along with each activity in this activity diagram.

First, the control unit 310 in the construction 3D printer 300 acquires the G-code transmitted in activity A170 (activity A710). This G-code corresponds to the tool path generated in activity A140. In other words, this activity can be expressed as a step, and in the acquisition step, the tool path generated by the program of this embodiment is acquired.

In activity A710, for example, the following two-stage information processing is performed: (1) The communication unit 350 receives the G-code transmitted from the information processing device 200. (2) The control unit 310 stores the received G-code in the memory unit 320.

Next, the control unit 310 in the construction 3D printer 300 ejects the modeling material from the nozzle 370 (activity A720). The modeling material may be a powder or paste material that mineralizes via hydration, polymerization, or firing, and may be, for example, mortar, concrete, or a ceramic material. In other words, this activity is expressed as a step: in the nozzle control step, the modeling material is ejected from the nozzle 370 in the construction 3D printer 300.

In activity A720, for example, the following four stages of information processing are executed: (1) The control unit 310 sends an open signal to the nozzle 370 via the communication bus 360. (2) The nozzle 370 opens its tip. (3) The control unit 310 sends a supply signal to a supply pump (not shown) via the communication bus 360. (4) The nozzle 370 ejects the modeling material supplied from the supply pump from its tip.

Next, the control unit 310 in the construction 3D printer 300 controls the operation of the nozzle 370 according to the tool path and moves the nozzle 370 (activity A730). In other words, in the nozzle control step, the nozzle 370 is moved according to the tool path. In other words, in the nozzle control step, the operation of the nozzle 370 is controlled according to the tool path.

In activity A730, for example, the following two-stage information processing is performed: (1) The control unit 310 reads the received G-code from the memory unit 320. (2) The control unit 310 performs a movement process to move the nozzle 370 according to the tool path. The control unit 310 also performs a control process to control the operation of the nozzle 370 according to the tool path.

Next, the control unit 310 in the construction 3D printer 300 determines whether the nozzle 370 has been moved along all tool paths (activity A740). If the nozzle 370 has been moved along all tool paths, the control unit 310 concludes that the three-dimensional object has been created and ends the processing of activity A740. If the nozzle 370 is currently moving along the tool paths, the control unit 310 continues to move the nozzle 370.

In this way, the three-dimensional object is manufactured using the manufacturing method shown in activities A710 to A740.

Information processing method 7 uses a tool path generated by the program of this embodiment, making it possible to provide a three-dimensional object with a more aesthetic appearance than ever before. It also makes it possible to provide a three-dimensional object with a higher structural strength than ever before.

3-8. Summary Construction 3D printers are subject to various constraints due to the nature of the modeling materials they handle. The nozzles used in construction 3D printers have difficulty opening and closing their tips frequently due to the nature of the modeling materials they dispense. Therefore, when using construction 3D printers to create 3D objects, it is desirable to minimize the impact on the appearance of the nozzles due to local clumps caused by nozzle travel and acceleration/deceleration.

With this knowledge of construction 3D printers, the inventors have come to the realization that in order to fully utilize the performance of construction 3D printers, it is preferable to satisfy the following four conditions as much as possible: (1) Sufficiently fill the interior of the 3D object with the modeling material. (2) Generate a tool path that is drawn in one stroke. (3) Reduce the number of corners in the tool path. (4) Be able to accommodate 3D objects of various shapes. By satisfying these four conditions, it is possible to improve the accuracy of the shape of the 3D object compared to conventional methods. After extensive research, the inventors have come up with the present embodiment.

The above conditions (1) to (4) are executed in the adjustment process of activity A130. (1) is satisfied by executing a process to increase the internal filling rate of the three-dimensional object. (1) ensures that the interior of the three-dimensional object is sufficiently filled with modeling material, thereby suppressing a decrease in structural strength due to voids inside the three-dimensional object. (2) leads to a reduction in nozzle traveling, which can eliminate the impact of local clumps on the appearance. (3) leads to a reduction in nozzle acceleration/deceleration, which can eliminate the impact of local clumps on the appearance.

According to this aspect of the present embodiment, the accuracy of the shape of a 3D model created by the construction 3D printer 300 can be improved compared to conventional techniques. Therefore, this aspect of the present embodiment improves the technical field of construction 3D printers. Furthermore, this aspect of the present embodiment does not require the preparation of special equipment to satisfy the above conditions, and therefore can improve the functionality of a computer with a simple configuration. In other words, this aspect of the present embodiment can improve the functionality of a computer to achieve at least one of the following (1) to (4): (1) It is possible to speed up computer processing. (2) It is possible to achieve power savings for the computer. (3) It is possible to increase the communication speed of the computer. (4) The resources saved in the computer can be used for other core functions.

Here, the various prior art technologies disclosed in Patent Documents 2 and 3 do not include any ideas for resolving the various constraints that arise in construction 3D printers due to the properties of the modeling materials used. For example, Patent Document 2 discloses generating a single-stroke path, but does not consider resolving other constraints. Patent Document 3 discloses taking into account the design thickness and the actual thickness of the structure, but does not consider resolving issues unique to construction 3D printers. In contrast, this embodiment has the advantage of being able to fully utilize the performance of construction 3D printers by satisfying the above four conditions.

The above describes an embodiment of the present invention, but the present invention is not limited to this and can be modified as appropriate within the scope of the technical concept of the invention.

4. Modifications Modifications of this embodiment will be described in Section 4. The following modifications can be combined as appropriate.

The control unit 210 performs writing (storing) and reading processes for various data and information to the memory unit 220, but this is not limited to this, and for example, information processing for each activity may be performed using registers, cache memory, etc. within the control unit 210.

The processing order of activities A130 and A140 may be executed at various times, for example, processing may alternate between activities A130 and A140, such as activities A130, A140, A130, A140.

Activity A270 may simply be a process for integrating each round-trip path 540. For example, it may be possible to generate a tool path by integrating the external contour and each round-trip path. This type of process makes it possible to generate a single-stroke tool path for 3D objects of various shapes, or for 3D objects with isolated islands.

The reference information in activity A620 may be any information that indicates the relationship between three-dimensional shape data and the results of structural calculations, and may be a database that stores lookup tables, a function that represents the correspondence of values that depend on certain variables, a mathematical model that mathematically relates multiple pieces of information, etc.

The trained model used in activity A620 may be retrained as appropriate.

It may be difficult to generate a tool path that can be drawn in one stroke using a single modeling layer. In this case, a tool path may be generated using two or more modeling layers. In other words, in the generation step, a tool path may be generated that spans a first modeling layer, which is a layer that is formed corresponding to a first height of the nozzle 370, and a second modeling layer, which is a layer that is formed corresponding to a second height different from the first height of the nozzle 370. Here, the tool path is a movement path that moves the nozzle 370 in the order of the first modeling layer, the second modeling layer, and the first modeling layer. This embodiment makes it possible to generate a tool path that can be drawn in one stroke more reliably.

If it is difficult to generate a single-stroke tool path, the nozzle 370 may be made to travel. In this case, the tool path may include a path that starts at the outer contour and moves the nozzle 370 to a distant position within the slice data so as to bypass the outside of the outer contour. In other words, such a tool path can avoid the impact of clumps on the three-dimensional object caused by the continued ejection of the modeling material when the nozzle 370 is traveling. Therefore, according to this embodiment, the impact of the nozzle 370 traveling on the aesthetic appearance of the three-dimensional object can be reduced.

As another way of traveling the nozzle 370, the tool path may include a path that starts at the infill and moves the nozzle to a distant position within the slice data. This way, it is possible to avoid impacts on the aesthetics of the three-dimensional object, such as cuts and stringing caused by lag when the nozzle opens and closes.

Information processing method 6 of this embodiment has been described as an example in which display information suggesting modifications to three-dimensional shape data is generated based on the results of structural calculations, but this is not limited to this. In the generation step, information for modifying the three-dimensional shape data may be generated based on the results of structural calculations. This aspect can assist in the creation of three-dimensional shape data from the perspective of the structural strength of the three-dimensional object. For example, in the generation step, new three-dimensional shape data in which ribs are added to the three-dimensional shape data may be generated based on the results of structural calculations. This aspect reinforces each part of the three-dimensional object during its creation, preventing distortion or collapse of each part during the creation process and providing a countermeasure against water pressure when pouring ready-mixed concrete.

The adjustment process may involve adjusting the tool paths of adjacent layers in the build direction so that they have a relative angle greater than 0 degrees. This prevents overlap between the tool paths of adjacent layers, improving adhesion between layers and peel strength.

The aspects of activities A150 to A160 are not limited to those described in this embodiment. For example, in the correction step, a tool path may be generated for the region by changing the direction of the tool path. In other words, the tool path generated by default may be retained, and a new tool path with a different direction from the tool path may be generated. This aspect allows the filling rate of non-multiple discharge width regions to be increased by a simple path, rather than by adjusting filling using F or E values.

In the generation step, a tool path incorporating ribs may be generated. This aspect can improve the structural strength of the three-dimensional object during its creation.

Here, the rib may be configured to contact two parts that make up part or all of the three-dimensional object. As a result, the two parts may be configured with four surfaces due to the rib. This configuration can improve the strength of the parts during transportation.

In the above case, in the generation step, ribs may be added to locations other than near the top surface of the three-dimensional object. This configuration can improve the efficiency of pouring ready-mixed concrete, conserve materials, and maintain the integrity of the top surface.

5. Others The present invention may be provided in the following forms.

(1) A program used in a construction 3D printer, configured to cause a computer to execute an acquisition step, a division step, and a generation step, wherein the acquisition step acquires three-dimensional shape data representing the target shape of a three-dimensional object to be formed by the construction 3D printer, the division step divides part or all of the three-dimensional shape data into a plurality of slice data, the slice data being data having an arbitrary thickness in the forming direction of the three-dimensional object and having an external contour corresponding to the outer surface of the three-dimensional object, the generation step generates a tool path which is the movement path of a nozzle used in the construction 3D printer, and the process of generating the tool path includes an adjustment process for adjusting the target shape of the three-dimensional object based on the slice data.

This aspect allows for improved accuracy of the shape of 3D objects created by construction 3D printers compared to conventional methods. Furthermore, due to the simple configuration, the saved resources can be used for other core functions.

(2) A program in which the adjustment process executes at least one of the following processes: a process for increasing the internal filling rate of the three-dimensional object; a process for generating a single-stroke tool path; and a process for reducing the number of corners in the tool path.

According to this aspect, the accuracy of the shape of the three-dimensional object produced by the construction 3D printer can be improved compared to conventional methods.

(3) In the program described in (1) or (2) above, the adjustment process executes a search process that moves search data inside the external contour, the search data is defined to have a diameter twice the diameter of the nozzle, the search process is a process that moves the search data so as not to overlap the trajectory of the search data, the adjustment process executes the search process until the search data becomes unmovable, and when the search data becomes unmovable, the adjustment process further executes the search process from another position, and in the generation step, when there is no longer an area in the slice data in which the search data can move, a round-trip path that is a path the nozzle can travel back and forth on for each of the trajectories is generated, and in the generation step, the external contour and each of the round-trip paths are integrated to generate the tool path.

According to this aspect, a single-stroke tool path can be generated for three-dimensional objects of various shapes and for three-dimensional objects with remote islands.

(4) A program in which the search process in the program described in (3) above includes a process of moving the search data so as to follow the inner surface of the external contour, and a process of moving the search data so as to follow the inner surface of the trajectory.

This method allows for the generation of a single-stroke tool path while prioritizing filling in the areas around the exterior walls.

(5) A program described in (3) or (4) above, further configured to cause a computer to execute a placement step, wherein in the placement step, judgment data is placed on the external contour and the trajectory at a predetermined interval, the judgment data is data for determining contact with the search data, the predetermined interval is an interval smaller than the diameter of the search data, and in the adjustment process, when the search data and the judgment data come into contact, the direction of travel of the search data is changed to move the search data.

In this manner, the search data can be moved so as not to penetrate the outer contour of the slice data.

(6) In the program described in (1) or (2) above, the adjustment process generates a parallel path that is a path parallel to the external contour at a position away from the external contour by the diameter of the nozzle, cuts the parallel path at points where it intersects with the parallel path or the external contour, or at points where it shows a bend of a predetermined angle or more, leaves the longest path, which is the longest cut parallel path, among the cut parallel paths that are located inside the external contour, and deletes the other cut parallel paths, generates a further parallel path at a position away from the external contour by the diameter of the nozzle, and generates a further parallel path that is a path parallel to the longest path at a position away from the longest path by the diameter of the nozzle, the adjustment process is performed until it becomes impossible to generate a new parallel path, and the generation step integrates the external contour and each of the longest paths to generate the tool path.

This method allows for the generation of tool paths with fewer corners. This reduces the acceleration and deceleration of the nozzle, preventing a decrease in the accuracy of the shape of the 3D object due to the acceleration and deceleration of the nozzle.

(7) A program described in (1) or (2) above, wherein the adjustment process generates multiple paths that are part of the nozzle movement path in the slice data, the adjustment process cuts each of the paths at a point that shows the largest angle among the paths, and the generation step integrates the multiple paths by connecting a first end that is one end of one of the paths with a second end that is one end of another of the paths, thereby generating the tool path.

This aspect reduces the number of tool path corners that come on flat surfaces, thereby improving the aesthetic appearance of the three-dimensional object.

(8) A program in accordance with (1) or (2) above, wherein the adjustment process uses a polar coordinate system with the center of the slice data as the origin to generate multiple paths that are part of the nozzle movement path so as to overlap concentric circles centered on the origin, and the generation step integrates the multiple paths to generate the tool path.

This aspect makes it suitable for use in circular three-dimensional objects.

(9) A program described in any one of (1) to (8) above, wherein in the adjustment process, for each path generated in the process of generating the tool path, the path is rotated so that a third end, which is one end of the path, and a fourth end, which is one end of another of the path, are brought close to each other, and in the generation step, the third end and the fourth end are connected to integrate the respective paths and generate the tool path.

This method makes it possible to generate complex tool paths while ensuring a single-stroke pattern.

(10) In the program described in (1) or (2) above, in the generation step, the tool path is generated across a first modeling layer, which is a layer modeled corresponding to a first height of the nozzle, and a second modeling layer, which is a layer modeled corresponding to a second height different from the first height of the nozzle, and the tool path is a movement path for moving the nozzle in the order of the first modeling layer, the second modeling layer, and the first modeling layer.

This method makes it possible to generate a tool path that is drawn in one stroke more reliably.

(11) A program described in any one of (1) to (10) above, wherein the tool path is a path that moves the nozzle in the infill in the modeling direction when moving the nozzle from a third modeling layer, which is a layer that is modeled corresponding to the third height of the nozzle, to a fourth modeling layer, which is a layer that is modeled corresponding to a fourth height of the nozzle that is different from the third height.

This aspect reduces the impact of clumps that tend to form when the nozzle Z-hops.

(12) A program in which the tool path is a path that moves the nozzle in the building direction so as to vary the coordinates parallel to the building layer when the nozzle is moved in the building direction.

This configuration can prevent the local formation of clumps, which tend to occur when the nozzle Z-hops.

(13) A program in accordance with (11) or (12) above, wherein the tool path is a path that moves the nozzle so as to form the external contour before the infill in the same layer.

According to this aspect, the occurrence of lumps in the outer wall portion can be reduced, thereby improving the aesthetic appearance of the three-dimensional object compared to conventional methods.

(14) A program in which the tool path is a path along which the nozzle moves starting from the infill, in the program described in (13) above.

In this manner, overfilling during Z-hopping can be avoided because the starting point is not the external contour. Furthermore, the impact on modeling quality due to fluctuations in nozzle movement during Z-hopping can be avoided.

(15) A program in accordance with (13) or (14) above, wherein the adjustment process adjusts the movement path of the nozzle so as to preferentially assign conditions favorable for ensuring the accuracy of the shape of the three-dimensional object to the location specified in the external contour.

This approach allows favorable conditions to be assigned to locations where the finished dimensions and aesthetics must be prioritized.

(16) A program described in any one of (11) to (15) above, wherein the adjustment process adjusts the connection point between the infill and the external contour.

This configuration makes it possible to adjust the location of wrinkles that occur at the connection point.

(17) A program described in any one of (1) to (16) above, wherein the division step divides the slice data so as to reduce the thickness of the slice data according to the dimensions of each part that constitutes part or all of the three-dimensional object.

In this manner, by adjusting the height direction for multiple layers, it is possible to express the final height dimension of a three-dimensional object, which is difficult to express using a specified height.

(18) A program described in any one of (1) to (17) above, wherein the adjustment process adjusts each tool path in adjacent layers in the building direction so that they have an angle greater than 0 degrees relative to each other.

In this manner, the tool paths in adjacent layers do not overlap, improving adhesion between layers and increasing peel strength.

(19) A program described in any one of (1) to (18) above, further configured to cause a computer to execute a determination step and a correction step, wherein the determination step determines an area where the filling rate of the modeling material ejected from the nozzle moving along the tool path is insufficient, and the correction step performs at least one of the following corrections for the area: position correction of the tool path, correction of the moving speed of the nozzle, and correction of the diameter of the nozzle.

This aspect makes it possible to more reliably generate a tool path that can be drawn in one stroke, even for shapes that are difficult to draw in one stroke.

(20) A program described in any one of (1) to (19) above, further configured to cause a computer to execute a determination step and a correction step, wherein the determination step determines an area where the filling rate of the modeling material ejected from the nozzle moving the tool path is insufficient, and the correction step further generates a tool path for the area by changing the direction of the tool path.

In this manner, the filling rate of non-multiple ejection width areas can be increased by a simple pass, rather than adjusting the filling rate using the F value or E value.

(21) A program described in any one of (1) to (20) above, wherein the tool path includes a path that starts from the outer contour and moves the nozzle to a distant position within the slice data so as to bypass the outside of the outer contour.

According to this aspect, even when nozzle traveling is required, the impact of clumps on the aesthetic appearance of the three-dimensional object can be reduced.

(22) A program described in any one of (1) to (20) above, wherein the tool path includes a path that moves the nozzle from an infill starting point to a distant position within the slice data.

This aspect makes it possible to avoid the impact on the aesthetic appearance of the three-dimensional object caused by cuts and stringing caused by the lag when opening and closing the nozzle.

(23) A program described in any one of (1) to (22) above, wherein the adjustment process applies fillets to corners of the tool path.

This configuration reduces the acceleration and deceleration of nozzle movement around corners, thereby making nozzle movement around corners smoother.

(24) A program described in any one of (1) to (23) above, wherein the generation step generates the tool path to avoid the position of an object to be placed on the three-dimensional object, and the object is an object other than the molding material used to form the three-dimensional object and is an object to be placed on the three-dimensional object.

In this manner, dimensional errors in the three-dimensional object can be avoided by using a tool path that takes into account the volume and position of the object to be mounted in advance.

(25) A program described in any one of (1) to (24) above, wherein the generation step generates the tool path incorporating a rib, the rib being configured to contact two parts that constitute part or all of the three-dimensional object, and the two parts being configured by four surfaces due to the rib.

This configuration improves the strength of the parts during transportation.

(26) A program used in a construction 3D printer, configured to cause a computer to execute an acquisition step, a calculation step, and a generation step, wherein the acquisition step acquires three-dimensional shape data representing the target shape of a three-dimensional object to be created by the construction 3D printer, the calculation step performs structural calculations of the three-dimensional object based on the three-dimensional shape data and reference information, the reference information being information indicating the relationship between the three-dimensional shape data and the results of the structural calculations, and the generation step generates information for modifying the three-dimensional shape data based on the results of the structural calculations.

This aspect can assist in the creation of three-dimensional shape data from the perspective of the structural strength of the three-dimensional object.

(27) A program in which, in the program described in (26) above, the generation step generates display information suggesting modification of the three-dimensional shape data based on the results of the structural calculation.

This approach allows even users who are unfamiliar with creating 3D shape data to reduce the burden of creating 3D shape data through appropriate feedback. This allows for improved accuracy of the shapes of 3D objects created by construction 3D printers compared to conventional methods.

(28) A program in accordance with (26) or (27) above, wherein the generation step generates new three-dimensional shape data by adding ribs to the three-dimensional shape data based on the results of the structural calculation.

This type of configuration reinforces each part of the three-dimensional object during its creation, preventing distortion or collapse of each part during the creation process and also provides protection against water pressure when pouring ready-mixed concrete.

(29) A program in which, in the generation step, the ribs are added to a location other than near the top surface of the three-dimensional object.

This type of configuration can improve the efficiency of pouring ready-mixed concrete, save materials, and maintain the integrity of the top surface.

(30) A manufacturing method for a three-dimensional object executed by a construction 3D printer, comprising an acquisition step and a nozzle control step, wherein the acquisition step acquires a tool path generated by a program described in any one of (1) to (26) above, the nozzle control step ejects a modeling material from a nozzle in the construction 3D printer, the modeling material being a powder or paste material that mineralizes via a hydration reaction, a polymerization reaction, or calcination, and the nozzle control step controls the operation of the nozzle according to the tool path.

This aspect allows the accuracy of the shape of 3D objects created by construction 3D printers to be improved compared to conventional methods. Furthermore, due to the simple configuration, the saved resources can be used for other core functions.

(31) A three-dimensional object manufactured by the manufacturing method described in (30) above.

According to this aspect, it is possible to provide a three-dimensional object that has a more aesthetic appearance than ever before, and also a three-dimensional object that has a higher structural strength than ever before.
Of course, this is not the case.

100: System, 200: Information processing device, 210: Control unit, 211: Acquisition unit, 212: Division unit, 213: Processing unit, 214: Generation unit, 215: Placement unit, 216: Measurement unit, 217: Identification unit, 218: Correction unit, 219: Calculation unit, 220: Memory unit, 230: Display unit, 240: Input unit, 250: Communication unit, 260: Communication bus, 300: Construction 3D printer, 310: Control unit, 311: Acquisition unit, 312: Nozzle control unit, 320: Memory unit, 350: Communication unit, 360: Communication bus, 370: Nozzle, 400: Slice data, 410: External contour, 420: Tool path, 421: Path, 422: Path, 423: Path, 430: Area, 440: External contour, 450: Tool path, 510: External contour, 511: External contour, 512: External contour, 520: Search data, 521: Search data, 522 : Search data, 530: Trajectory, 533: Trajectory, 534: Trajectory, 535: Trajectory, 540: Round trip path, 543: Round trip path, 544: Round trip path, 545: Round trip path, 551: Integrated part, 552: Integrated part, 553: Integrated part, 554: Integrated part, 561: Start point, 562: End point, 610: Path seed, 611: Path seed, 612: Path seed, 613: Path seed, 620: Parallel path, 621: Parallel path, 622: Parallel path, 623: Parallel path, 624: Parallel path, 630: Cutting path, 631: Longest path, 632: Cutting path, 633: Cutting path, 634: Cutting path, 635: Cutting path, 636: Cutting path, 640: Parallel path, 650: Path seed, 660: Tool path, 710: External contour, 720: Origin, 730: Path, 800: Three-dimensional shape data, 810: Display information

Claims (20)

A program used in a construction 3D printer,
configured to cause a computer to perform the obtaining step, the dividing step, and the generating step;
In the acquisition step, three-dimensional shape data representing a target shape of a three-dimensional object to be formed by the construction 3D printer is acquired,
In the dividing step, a part or all of the three-dimensional shape data is divided into a plurality of slice data;
the slice data is data having an arbitrary thickness in a modeling direction of the three-dimensional object,
the slice data has an outer contour that serves as a tool path for forming an outer surface of the three-dimensional object,
The tool path is a movement path of a nozzle used in the construction 3D printer,
In the generating step, the tool path is generated;
the step of generating the tool path includes an adjustment process of adjusting a target shape of the three-dimensional object based on the slice data;
The adjustment process includes performing a search process that moves search data inside the outer contour;
The search data is defined to have a diameter double that of the nozzle;
the search process is a process of moving the search data so as not to overlap trajectories of the search data,
In the adjustment process, the search process is performed until the search data becomes unmovable;
In the adjustment process, if the search data cannot be moved, the search process is again performed from another position;
In the generating step, when there is no more area in the slice data where the search data can be moved, a round-trip path is generated for each of the trajectories, which is a path where the nozzle can move back and forth;
In the generating step, the external contour and each of the reciprocating paths are integrated to generate the tool path.
program. 2. The program according to claim 1,
The adjustment process includes performing at least one of a process of increasing an internal filling rate of the three-dimensional object, a process of generating the tool path in a single stroke, and a process of reducing corners in the tool path.
program. 2. The program according to claim 1,
the search process includes a process of moving the search data so as to follow an inner surface of the outer contour, and a process of moving the search data so as to follow an inner surface of the locus,
program. 2. The program according to claim 1,
further configured to cause the computer to perform the placing step;
In the arranging step, judgment data is arranged on the outer contour and the locus at predetermined intervals;
the determination data is data for determining contact with the search data,
the predetermined interval is an interval smaller than a diameter of the search data,
In the adjustment process, when the search data and the determination data come into contact with each other, a direction of travel of the search data is changed to move the search data.
program. 2. The program according to claim 1,
In the generating step, the tool path is generated across a first modeling layer, which is a layer that is modeled corresponding to a first height of the nozzle, and a second modeling layer, which is a layer that is modeled corresponding to a second height of the nozzle that is different from the first height,
The tool path is a movement path for moving the nozzle in the order of the first modeling layer, the second modeling layer, and the first modeling layer.
program. 2. The program according to claim 1,
The tool path is a path that moves the nozzle in the modeling direction in infill when moving the nozzle from a third modeling layer, which is a layer that is modeled corresponding to a third height of the nozzle, to a fourth modeling layer, which is a layer that is modeled corresponding to a fourth height of the nozzle that is different from the third height.
program. 7. The program according to claim 6 ,
The tool path is a path that moves the nozzle so as to vary a coordinate parallel to the modeling layer when the nozzle is moved in the modeling direction.
program. 7. The program according to claim 6 ,
The tool path is a path that moves the nozzle so as to form the outer contour before the infill in the same layer.
program. The program according to claim 8 ,
The tool path is a path along which the nozzle moves starting from the infill.
program. The program according to claim 8 ,
the adjustment process adjusts the movement path of the nozzle so as to preferentially assign conditions advantageous for ensuring accuracy of the shape of the three-dimensional object to a location specified in the outer contour.
program. 2. The program according to claim 1 ,
In the adjustment process , a connection point between a path in the infill and a path in the external contour is adjusted.
program. 2. The program according to claim 1,
In the dividing step, the three-dimensional object is divided so as to reduce thicknesses of the plurality of slice data in accordance with dimensions of each part constituting a part or the whole of the three-dimensional object.
program. 2. The program according to claim 1,
In the adjustment process, the tool paths in adjacent layers in the building direction are adjusted so that they have an angle greater than 0 degrees relative to each other.
program. 2. The program according to claim 1,
The method is further configured to cause a computer to execute the identifying step and the correcting step,
In the identifying step, a region where a filling rate of the modeling material discharged from the nozzle moving along the tool path is insufficient is identified;
In the correction step, at least one of correction of the position of the tool path, correction of the moving speed of the nozzle, and correction of the diameter of the nozzle is performed on the region.
program. 2. The program according to claim 1,
the tool path includes a path that starts from the outer contour and moves the nozzle to a distant position within the slice data so as to bypass the outside of the outer contour.
program. 2. The program according to claim 1,
the tool path includes a path that moves the nozzle from an infill to a remote position within the slice data;
program. 2. The program according to claim 1,
The adjustment process includes applying fillets to corners of the tool path.
program. 2. The program according to claim 1,
In the generating step, the tool path is generated so as to avoid positions of objects to be placed on the three-dimensional model;
the object is an object other than a modeling material used to model the three-dimensional object, and is an object to be placed on the three-dimensional object;
program. 2. The program according to claim 1,
In the generating step, the tool path incorporating a rib is generated;
the rib is configured to be in contact with two parts that form a part or the whole of the three-dimensional object,
The two parts are formed by four surfaces defined by the ribs.
program. A manufacturing method of a three-dimensional object performed by a construction 3D printer,
An acquisition step and a nozzle control step,
In the acquisition step, a tool path generated by the program according to any one of claims 1 to 19 is acquired,
In the nozzle control step, a modeling material is ejected from a nozzle in the construction 3D printer,
The molding material is a powder or paste material that mineralizes via hydration, polymerization, or firing;
In the nozzle control step, the operation of the nozzle is controlled according to the tool path.
Manufacturing method.