Cutting movement speed control method and device, equipment and a medium

Abstract

The invention discloses a cutting movement speed control method and device, equipment and a medium. The method comprises the steps that: calculating curvature of each discrete line segment at a corresponding discrete point; combining discrete points with the same or similar curvatures of adjacent discrete line segments into a curve segment, wherein after the plurality of curve sections are combined, a large arc line formed by connecting the plurality of curve sections corresponds to a cutting track; calculating a curvature average value of all curvatures of all discrete point sets in each curve segment; according to each curvature average value, obtaining a common maximum allowable speed of all discrete points in the corresponding curve segment; and when the position of the material is cut according to the cutting track, controlling the cutting movement speed within the maximum allowable speed of the corresponding curve section. According to the method, on the basis that the cutting speed is not sacrificed and the track is not changed, the speed planning problem is solved, stable movement is guaranteed, the problem of movement shaking is solved, and therefore the cutting precision and the cutting efficiency are improved.

Description

technical field [0001] The invention relates to the field of flexible material cutting, in particular to a method, device, equipment and medium for controlling cutting motion speed. Background technique [0002] In the field of flexible material cutting, the contour map output by CAD is often represented by discrete tiny polyline segments. Before the cutting machine was born, the output devices of CAD were plotters and printers, and their output contours were also represented by discrete tiny polyline segments. For example, the output file in HPGL format is a very representative CAD output format. The file in this format uses discrete tiny polyline segments to represent the outline of the graphic. [0003] After the curve profile is discretized, it becomes a broken line segment. There is a sudden change angle dangle between the broken line and the broken line, which is a non-smooth trajectory. For this kind of trajectory cutting motion, the speed will have a sudden change. ...

AI Technical Summary

Problems solved by technology

But the disadvantage is also obvious, that is, it is very easy to shake; since the mutation angle dangle between different broken lines after the curve is discretized is not equal, that is, different mutation angles will be generated between different discrete points, the maximum allowable calculated for each corner The speed is also different, sometimes even several times different, and because the discrete curve segment is very short, the change value of the maximum allowable speed jumps up and down a lot and very frequently

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