冰雪颗粒3D打印的材料填充算法

根据所提出的冰雪3D打印机器人的课题研究需求，针对冰的物理特性，提出颗粒材料的3D打印方法。采用六方紧密堆积的规律，对颗粒的填充规划算法进行了研究。读取STL模型文件数据，研究了三角面片和切平面的匹配方法，提出采用黄金分割的匹配计算方法。针对分层后轮廓的颗粒填充问题，提出采用平面颗粒填充网格模板与轮廓曲线进行比较筛选的规划方法。计算实例证明，黄金分割查找实现三角面片与切平面匹配比二分法具有更高的效率；这种颗粒材料填充规划算法对复杂的实体造型均有效。

Material filling algorithm for 3D printing of ice and snow particles

According to the research requirements of 3D printing robot for ice and snow materials, a 3D printing method of granular materials was proposed according to the physical characteristics of ice. The filling planning algorithm of particles was studied by using the law of hexagonal close packing. The data of STL model file was read, and the matching method of triangular patch sorting and slice plane was studied. The matching calculation method using golden section was proposed.Aiming at the particle filling problem of layered contour, a planning method by comparing plane particle mesh filling template with contour curve was proposed. The calculation example shows that the matching of triangular patch and tangent plane by golden section search is more efficient than dichotomy search.This granular material filling planning algorithm is effective for complex solid modeling.