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Machining track real-time planning method and device based on non-uniform B-splines

A technology for processing trajectories and non-uniformity, which is applied in the direction of instruments, computer control, simulators, etc., can solve the problems of spline trajectories that cannot be delivered for interpolation, occupy more system resources, and data starvation, so as to solve data starvation and avoid solving problems , the effect of reducing the amount of calculation

Active Publication Date: 2018-11-30
SHENZHEN LEAD CNC SYST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, the user inputs 100 model value points to obtain the control points, and needs to perform linear operations on a 100*100 matrix, which requires a large amount of calculation, and the interpolation process of this segment of the spline cannot be started before the linear equations are solved. , and the interpolation speed of small straight lines and arcs is very fast. In the mixed application scenarios of spline curves, straight lines, and arc paths, it may happen that the line segments in the interpolation buffer have been interpolated, but the spline trajectory cannot The situation of delivery interpolation leads to "data starvation"; second, after the control point is obtained, the control point must be kept in the memory until the end of the spline interpolation, which takes up more system resources

Method used

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  • Machining track real-time planning method and device based on non-uniform B-splines
  • Machining track real-time planning method and device based on non-uniform B-splines
  • Machining track real-time planning method and device based on non-uniform B-splines

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no. 2 example

[0042] Corresponding to the non-uniform B-spline based processing trajectory real-time planning method in the first embodiment, image 3 It shows a one-to-one correspondence real-time planning device for processing trajectory based on non-uniform B-spline using the method for real-time planning of processing trajectory based on non-uniform B-spline shown in the first embodiment. Such as image 3 As shown, the non-uniform B-spline based processing trajectory real-time planning device 400 includes a data acquisition unit 410 , a first processing unit 420 , a second processing unit 430 and a third processing unit 440 . Among them, the implementation functions of the data acquisition unit 410, the first processing unit 420, the second processing unit 430, and the third processing unit 440 are in one-to-one correspondence with the corresponding steps in the first embodiment. a detailed description.

[0043] The data acquiring unit 410 is configured to acquire multiple type point ...

no. 3 example

[0052] Such as Figure 4 As shown, is a schematic diagram of a terminal device 300 . The terminal device 300 includes a memory 302, a processor 304, and a computer program 303 stored in the memory 302 and operable on the processor 304. When the computer program 303 is executed by the processor 304, the first implementation is realized. The real-time planning method of machining trajectory based on non-uniform B-spline in the example, in order to avoid repetition, will not be repeated here. Alternatively, when the computer program 303 is executed by the processor 304, it realizes the functions of each model / unit in the non-uniform B-spline based machining trajectory real-time planning device of the second embodiment. To avoid repetition, details are not repeated here.

[0053] Exemplarily, the computer program 303 can be divided into one or more modules / units, and one or more modules / units are stored in the memory 302 and executed by the processor 304 to implement the present ...

no. 4 example

[0059] An embodiment of the present invention also provides a storage medium, on which instructions are stored. When the instructions are run on a computer, the computer program is executed by a processor to implement the non-based In order to avoid repetition, the real-time planning method of machining trajectory of uniform B-spline will not be repeated here. Alternatively, when the computer program is executed by the processor, the functions of each model / unit in the non-uniform B-spline-based real-time planning device for machining trajectory described in the second embodiment are realized. To avoid repetition, details are not repeated here.

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Abstract

The embodiment of the invention provides a machining track real-time planning method and device based on non-uniform B-splines, and belongs to the field of industrial automation. The method includes the steps that multiple offset point data input by a user are obtained; the multiple offset point data are divided into a plurality of to-be-planned units, and each to-be-planned unit includes at leastfour offset point data; a B-spline track unit corresponding to each to-be-planned unit is constructed; and every two adjacent B-spline track units are fused to generate a target B-spline track. Compared with methods in the prior art, by adopting piecewise spline track planning, the solution of large linear equation sets is avoided, the amount of calculation is reduced, the target B-spline trackscan be delivered to the subsequent interpolation process in time after being obtained, the problem of 'data starvation' in the interpolation process is solved, and the interpolation stability is improved.

Description

technical field [0001] The invention relates to the field of industrial automation, in particular to a method and device for real-time planning of a processing trajectory based on non-uniform B-splines. Background technique [0002] At present, there is no motion control product that directly provides spline interpolation interface on the market. Usually, the user provides the discrete value points of the machining trajectory, and the control card (device) constructs a B-spline curve path segment based on these data points. Model points are generally directly generated by CAM software or obtained by user teaching, and the coordinates of model points obtained by the two methods will have certain deviations compared with the expected path. Compared with the uniform B-spline, when the non-uniform B-spline fits the model value points with deviation and uneven distribution of point spacing, the obtained curve is smoother, and the singular shape curve is not easy to appear. Howev...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/41
CPCG05B19/41G05B2219/34083
Inventor 王伟王立松蔡兴华
Owner SHENZHEN LEAD CNC SYST
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