Method, device, equipment and medium for controlling cutting motion speed

Abstract

The present application discloses a cutting motion speed control method, device, equipment and medium, the method comprising: calculating the curvature of each discrete line segment at a corresponding discrete point; combining discrete points with the same or similar curvature of discrete adjacent line segments form a curve segment; after combining several curve segments, the large arc formed by the connection of several curve segments corresponds to the cutting trajectory; calculate the average curvature of all curvatures of all discrete point sets in each curve segment; according to the average of each curvature Value, to obtain the common maximum allowable speed of all discrete points in the corresponding curve segment; when cutting the material position according to the cutting track, control the cutting movement speed within the maximum allowable speed of the corresponding curve segment. This method can improve the speed planning problem without sacrificing the cutting speed and changing the trajectory, ensure smooth motion, and solve the problem of motion jitter, thereby improving cutting accuracy and cutting efficiency.

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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