Internal tangent transition curve generation method applied to laser cutting and related equipment

Abstract

The invention belongs to the technical field of automation, and relates to an internally tangent transition curve generation method applied to laser cutting and related equipment, and the method comprises the steps that linear track data and arc track data of laser cutting are acquired; judging whether corners of the linear track data and the arc track data need to construct internally tangent transition curves or not; and if an internally tangent transition curve needs to be constructed at the corner, constructing a first transition curve C0 and a second transition curve C1 which are continuous in G2 and monotonous in curvature, and performing G2 continuous splicing operation on the first transition curve C0 and the second transition curve C1 to obtain a target internally tangent transition curve. According to the method, the two sections of G2 continuous Bezier curves are adopted for splicing, G2 continuity of the straight line and arc non-tangent corner can be achieved, the corner precision can be guaranteed, meanwhile, the curvature extreme point of a transition curve does not need to be calculated iteratively, the uncertainty of the curvature extreme point on speed constraint is reduced, and the actual application effect of the straight line and arc corner is further improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a method for generating an inscribed transition curve for laser cutting and related equipment. Background Art

[0002] In laser cutting systems, non-tangent corners between straight lines and circular arcs often require smooth transitions through inscribed transition curves.

[0003] There is an existing method for generating an inscribed transition curve, which is to add a G2 continuous Bezier curve to smooth the transition and improve the processing efficiency of non-tangent corners of straight lines and arcs.

[0004] However, the applicant discovered that while using a G2-continuous Bezier curve to smoothly transition between straight and circular corners ensures G2 continuity at the transition curve's intersection with the straight lines and arcs before and after the corner, the curvature of the transition curve is non-monotonic. The extreme curvature points require iterative calculation, which can easily lead to computational errors. This results in inaccurate corner connection speed constraints based on curvature extreme value constraints. Furthermore, the maximum corner error between the transition curve and the corner is also difficult to accurately calculate. This suggests that conventional methods for generating inscribed transition curves suffer from inaccurate corner connection speed constraints and low corner accuracy. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to propose a method and related equipment for generating an inscribed transition curve for laser cutting, so as to solve the problems of inaccurate corner connection speed constraints and low corner accuracy in traditional inscribed transition curve generation methods.

[0006] In order to solve the above technical problems, the present application provides a method for generating an inscribed transition curve for laser cutting, which adopts the following technical solution:

[0007] Obtain the linear trajectory data and arc trajectory data of laser cutting;

[0008] Determining whether the corners of the straight line trajectory data and the circular arc trajectory data need to construct an inscribed transition curve;

[0009] If the corner needs to construct an inscribed transition curve, a first transition curve C0 and a second transition curve C1 with continuous G2 and monotonic curvature are constructed;

[0010] Perform a G2 continuous splicing operation on the first transition curve C0 and the second transition curve C1 to obtain a target inscribed transition curve.

[0011] In order to solve the above technical problems, the embodiment of the present application further provides an inscribed transition curve generation device for laser cutting, which adopts the following technical solution:

[0012] Trajectory data acquisition module, used to obtain linear trajectory data and arc trajectory data of laser cutting;

[0013] An inscribed transition curve judgment module, used to judge whether the corners of the straight line trajectory data and the arc trajectory data need to construct an inscribed transition curve;

[0014] A transition curve construction module is used to construct a first transition curve C0 and a second transition curve C1 with continuous G2 and monotonic curvature if the corner needs to construct an inscribed transition curve;

[0015] The splicing module is used to perform a G2 continuous splicing operation on the first transition curve C0 and the second transition curve C1 to obtain a target inscribed transition curve.

[0016] In order to solve the above technical problems, the embodiment of the present application further provides a computer device, which adopts the following technical solution:

[0017] The invention comprises a memory and a processor, wherein the memory stores computer-readable instructions, and when the processor executes the computer-readable instructions, the steps of the method for generating an inscribed transition curve for laser cutting as described above are realized.

[0018] In order to solve the above technical problems, the embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solution:

[0019] The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps of the method for generating an inscribed transition curve for laser cutting as described above are implemented.

[0020] The present application provides a method for generating an inscribed transition curve for laser cutting, comprising: obtaining linear trajectory data and circular arc trajectory data for laser cutting; determining whether an inscribed transition curve needs to be constructed for the corners of the linear trajectory data and the circular arc trajectory data; performing an end operation if an inscribed transition curve does not need to be constructed for the corners; if an inscribed transition curve needs to be constructed for the corners, constructing a first transition curve C0 and a second transition curve C1 that are G2 continuous and have a monotonic curvature; performing a G2 continuous splicing operation on the first transition curve C0 and the second transition curve C1 to obtain a target inscribed transition curve. Compared with the prior art, the present application uses two segments of G2 continuous Bezier curve splicing, which can not only achieve G2 continuity of non-tangent corners of straight lines and circular arcs, but also ensure corner accuracy. At the same time, there is no need to iteratively calculate the extreme curvature points of the transition curve, which reduces the uncertainty of the curvature extreme value on the speed constraint, further improving the practical application effect of straight line and circular arc corners. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the solutions in this application, a brief introduction will be given below to the drawings required for use in the description of the embodiments of this application. Obviously, the drawings described below are some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 This is a flowchart of a method for generating an inscribed transition curve for laser cutting according to an embodiment of the present application;

[0023] Figure 2 This is an example diagram of the G2 continuous splicing of the CL corner where the clockwise arc G02 and the straight line L are connected, provided in an embodiment of the present application;

[0024] Figure 3 1 is a schematic diagram of an embodiment of a Bezier curve with a non-zero endpoint curvature, monotonic curvature, and G2 continuity provided in an embodiment of the present application;

[0025] Figure 4 This is an example graph of a curvature with a non-zero endpoint curvature, and a curvature that is monotonic and G2 continuous, provided in an embodiment of the present application;

[0026] Figure 5 is a control point constraint curve diagram provided in an embodiment of the present application;

[0027] Figure 6 This embodiment of the present application provides Figure 5 Curvature plot of spline curves;

[0028] Figure 7 Schematic diagram of the structure of an inscribed transition curve generating device for laser cutting provided in an embodiment of the present application;

[0029] Figure 8 It is a structural diagram of an embodiment of a computer device according to the present application. DETAILED DESCRIPTION

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0031] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0033] Continue to refer Figure 1 , shows a flow chart of an embodiment of a method for generating an inscribed transition curve for laser cutting according to the present application. The method for generating an inscribed transition curve for laser cutting includes: step S101, step S102, step S103 and step S104.

[0034] In step S101 , linear trajectory data and arc trajectory data of laser cutting are acquired.

[0035] In an embodiment of the present application, the linear trajectory data of laser cutting can be obtained by extracting geometric parameters (starting point and end point coordinates) from a three-dimensional CAD model.

[0036] In an embodiment of the present application, the arc trajectory data of laser cutting can be obtained by using the three-point method (starting point, end point, and middle point) or the method of defining the arc by center + radius + angle range.

[0037] In step S102 , it is determined whether the corners of the straight line trajectory data and the arc trajectory data need to be constructed with inscribed transition curves.

[0038] In the present application, an inscribed transition curve refers to a curve constructed at the corner between two adjacent trajectories (e.g., a straight line, a straight line, an arc, or an arc) that is tangent to both trajectories. Its primary function is to ensure smoother and more continuous motion when an object passes through a corner, avoiding issues such as shock, vibration, and sudden changes in velocity and acceleration caused by sudden changes in trajectory direction.

[0039] In step S103 , if an inscribed transition curve needs to be constructed for the corner, a first transition curve C0 and a second transition curve C1 with continuous G2 and monotonic curvature are constructed.

[0040] In the embodiment of the present application, if the corner does not need to construct an inscribed transition curve, the end operation is performed.

[0041] In step S104 , a G2 continuous splicing operation is performed on the first transition curve C0 and the second transition curve C1 to obtain a target inscribed transition curve.

[0042] In the embodiment of the present application, two cubic Bezier curves with monotonic curvature and G2 continuity are used to achieve G2-continuous smoothing of the CL inscribed corner. One of the Bezier curves has a non-zero endpoint curvature, while the other has zero curvature. The connection between the two Bezier curves with monotonic curvature is the corner connection speed constrained by the curvature extreme value. Compared with the original G2-continuous corner transition curve constructed with a single curve, the new method does not require iteration when calculating the transition curve's curvature extreme value point, reducing the uncertainty of the curvature extreme value on the speed constraint, further improving the practical application of straight line and circular arc corners.

[0043] Compared with the existing technology, this application uses two segments of G2 continuous Bezier curve splicing, which can not only achieve G2 continuity of non-tangent corners of straight lines and circular arcs, but also ensure the accuracy of corners. At the same time, there is no need to iteratively calculate the extreme curvature points of the transition curve, reducing the uncertainty of the curvature extreme value on speed constraints, and further improving the practical application effect of straight line and circular arc corners.

[0044] In some optional implementations of the embodiments of the present application, the step of determining whether the corners of the linear trajectory data and the circular arc trajectory data need to construct an inscribed transition curve specifically includes the following steps:

[0045] Select the inscribed transition curve judgment point P in the straight line trajectory data m ;

[0046] Calculate the judgment point P of the inscribed transition curve m The distance d to the center C0 of the arc trajectory data;

[0047] Determine whether the distance d is greater than or equal to the radius R of the arc trajectory data;

[0048] If it is greater than or equal to, it is determined that the corner does not need to construct an inscribed transition curve;

[0049] If it is less than, then it is necessary to construct an inscribed transition curve to determine the corner.

[0050] In the embodiment of this application, Figure 2Take the figure as an example, which is formed by the clockwise arc (G02) C and the straight line L connecting the CL corner. Among them, the radius of the arc C is R, the center coordinates are C0 (x0, y0), the starting coordinates are P0 (x0, y0), and the end coordinates are P1 (x1, y1); the starting coordinates of the straight line L are P1 (x1, y1) and the end coordinates are P2 (x2, y2). In order to determine whether the CL corner can construct a transition curve that is located inside the corner and tangent to the clockwise arc (G02) C and the straight line L respectively, this design scheme is to first take a point P on the straight line L. m :

[0051] P m =P1-mT L

[0052] In the above formula, is the unit tangent vector of the straight line L. Post-calculation point P m The distance to the center of the arc d = || P m If d ≥ R, the corner of LC or CL does not meet the conditions for an inscribed transition curve, and the next step is not processed. Otherwise, it means that the corner of LC or CL meets the conditions for an inscribed transition curve.

[0053] Compared with the prior art, this application calculates the inscribed transition curve to determine the point P m The distance d to the center C0 of the arc trajectory data is determined, and whether the distance d is greater than or equal to the radius R of the arc trajectory data is determined, thereby effectively confirming whether the current laser cutting straight line trajectory data and arc trajectory data can construct a valid inscribed transition curve.

[0054] In some optional implementations of the embodiments of the present application, the first transition curve C0 includes a first curve control point First curve control point 2 First curve control point three And the first curve control point four The second transition curve C1 includes the second curve control point Second curve control point 2 Second curve control point three And the second curve control point four Among them, the first curve control point four And the second curve control point 1 It is the joining point of the first transition curve C0 and the second transition curve C1. If the corner needs to construct an inscribed transition curve, the steps of constructing the first transition curve and the second transition curve with continuous G2 and monotonic curvature include the following steps:

[0055] Determine the first curve control point on the arc trajectory data. Coordinate data of

[0056] According to the first curve control point Calculate the first transition curve C0 and the second transition curve C1 at the connection point The endpoint curvature k(1) at ;

[0057] Determine the first curve control point 2 according to the endpoint curvature k(1) First curve control point three And the first curve control point four Coordinate data of

[0058] According to the first curve control point three Coordinate data of the first curve control point The coordinate data and the endpoint curvature k(1) determine the second curve control point 1 Second curve control point 2 Second curve control point three And the second curve control point four coordinate data.

[0059] Compared with the prior art, the present invention determines the first curve control point The coordinate data of the first transition curve C0 and the second transition curve C1 are calculated at the connection point The endpoint curvature k(1) at the end point is used to determine the first curve control point 2. First curve control point three And the first curve control point four The coordinate data of the second curve control point Second curve control point 2 Second curve control point three And the second curve control point four The coordinate data of the first transition curve C0 and the second transition curve C1 are obtained, thereby realizing the construction and splicing method of the first transition curve C0 and the second transition curve C1.

[0060] In some optional implementations of the embodiments of the present application, the above-mentioned determination of the first curve control point on the arc trajectory data is as follows: The steps of obtaining the coordinate data specifically include the following steps:

[0061] Calculate the center angle θ of the arc trajectory data c ;

[0062] Let the first curve control point be The center angle of the arc corresponding to the corner point P1 of the linear trajectory data and the arc trajectory data is

[0063] Let the central angle of the arc corresponding to the corner point P1 be is mθ c , where m represents the central angle The adjustment factor;

[0064] Calculate the arc trajectory data at the first curve control point The unit tangent vector T0 of the unit tangent vector is

[0065] Calculate the unit tangent vector T of the linear trajectory data L ;

[0066] Calculate the unit tangent vector T0 and the unit tangent vector T L The angle γ;

[0067] If the angle γ≤0.5π, confirm the first curve control point Satisfy the arc inscribed transition condition and obtain the first curve control point Coordinate data of

[0068] If the angle γ>0.5π, confirm the first curve control point The arc inscribed transition condition is not met, and the center angle is increased The value of the adjustment coefficient m is used to recalculate the angle γ until the angle γ≤0.5π.

[0069] In the embodiment of this application, the point The rule is to first calculate the central angle of arc C as θ c . Order point The central angle of the arc to the corner point P1 is In this design, the initialization command Wherein, m represents the central angle of the circle The adjustment coefficient is 0.4, and the central angle of arc C is θ c :

[0070]

[0071] Wherein, a represents the curvature coefficient of the first transition curve C0.

[0072] In the embodiment of the present application, at the acquisition point After that, a preliminary judgment point is needed Specifically, first calculate the unit tangent vector T of the straight line L L with dot The angle γ between the tangent vector T0 at:

[0073]

[0074] If γ≤0.5π, the point If the arc inscribed transition condition can be preliminarily achieved, proceed to the next step. Otherwise, increase the center angle To adjust the coefficient m, repeat the above steps and take a point on the arc. Until the arc inscribed transition conditions are met.

[0075] Compared with the prior art, this application first calculates the unit tangent vector T of the straight line L L with dot The angle γ between the tangent vector T0 at the position is used to determine the selected point. Whether the arc inscribed transition conditions are met, so as to effectively judge the selected point Is it reasonable?

[0076] In some optional implementations of the present application, the central angle θ of the arc trajectory data is calculated as follows: c The steps specifically include the following steps:

[0077] Let the corner point P1 of the straight line trajectory data and the arc trajectory data be the drawing end point of the arc trajectory data, and confirm the drawing direction of the arc trajectory data;

[0078] Get the starting coordinate P0 of the arc trajectory data, and set the vector product ret = C0P0 × C0P1;

[0079] If the vector product ret>0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 in the counterclockwise direction, the center angle θ of the arc trajectory data will not be adjusted. c ;

[0080] If the vector product ret>0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 clockwise, then the center angle θ of the arc trajectory data is c Adjusted to 2π-θ c ;

[0081] If the vector product ret≤0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 in the counterclockwise direction, then the center angle θ of the arc trajectory data is c Adjusted to 2π-θ c ;

[0082] If the vector product ret ≤ 0 and the arc trajectory data is drawn in a direction from the vector C0P0 to the vector C0P1 clockwise, the center angle θ of the arc trajectory data is not adjusted. c .

[0083] In the embodiment of the present application, since the range of the acos() function is [0,π], it cannot describe the central angle θ of the arc C. c Therefore, this design adds the following judgment steps to obtain the accurate central angle θ of arc C. c Let vector product ret = C0P0 × C0P1. If vector product ret > 0, it means that the calculation θ c Is the angle from vector C0P0 to vector C0P1 counterclockwise, otherwise the calculation θ c It is the angle from vector C0P0 to vector C0P1 clockwise; then the final center angle θ is determined according to the direction of arc C. c , that is, if the drawing direction of arc C is consistent with the direction specified by ret, then arc C is a minor arc, and the central angle is θ c Otherwise, the arc C is a major arc, and its central angle is θ c =2π-θ c .

[0084] Compared with the prior art, the present invention effectively determines the angle of the vector C0P0 turning to the vector C0P1 by determining the positive or negative value of the product of the vector C0P0 and the vector C0P1, thereby obtaining the accurate central angle θ of the arc C. c .

[0085] In some optional implementations of the embodiments of the present application, the above-mentioned first curve control point is Calculate the first transition curve C0 and the second transition curve C1 at the connection point The step of calculating the endpoint curvature k(1) at , specifically comprises the following steps:

[0086] Select point P on the arc trajectory data C t (x ti ,y ti );

[0087] Let point P t (x ti ,y ti ) to the center angle of the corner point P1 is

[0088] Let point P t (x ti ,y ti ) to the center angle of the corner point P1 is nθ c , where n represents the central angle of the circle The adjustment factor;

[0089] At point P t (x ti ,y ti) to obtain the inscribed arc C I , where the inscribed arc C I Intact with arc trajectory data at point P t (x ti ,y ti ), and the inscribed arc C I Tangent to the straight line trajectory data;

[0090] Calculate the angle from the corner point P1 to the inscribed arc C I The shortest distance ε;

[0091] If the shortest distance ε is less than the maximum corner error ε max , then determine the first transition curve C0 and the second transition curve C1 at the connection point The endpoint curvature at is determined as Where Δ represents the tolerance value, R I Represents the inscribed arc C I radius;

[0092] If the shortest distance ε is greater than or equal to the maximum corner error ε max , then increase the central angle The value of the adjustment coefficient n is used to recalculate the shortest distance ε until the shortest distance ε is less than the maximum corner error ε max .

[0093] In the embodiment of the present application, it is determined that the transition curves C0 and C1 are at the connection point The endpoint curvature k(1) at can be realized as follows:

[0094] First take a point P on the arc t (x ti ,y ti ), so that point P t (x ti ,y ti ) to the center angle of corner P1 is The initial value of n is 0.5. Then at point P t (x ti ,y ti ) to find an inscribed arc C I . And arc C I Into arc C at point P t (x ti ,y ti ), which is also tangent to the line L. Assume that the inscribed circle C I The radius is R I (R I >0), the center of the circle is O I (x oi ,y oi ), then it satisfies the following relationship:

[0095] O I (x oi ,y oi )=P t -T t R I

[0096]

[0097] In the above formula, A, B, and C are the coefficients of the parametric equation of the straight line L, which are A=y1-y2, B=x2-x1, and C=y2x1-y1x2 respectively. For arc P0P1 at point P t Point from the center to P t The unit vector of . Combining the above formulas, we can know or Since R I (R I >0), so the length is a positive number.

[0098] In order to ensure that the maximum error of the transition curve at the corner is max Within the allowable range, this design uses the above method to determine the inscribed arc C I Then, calculate the shortest distance from the corner P1(x1,y1) to the inscribed circle, that is, ε=||O I P I ||-R I If ε≥ε max , then increase the central angle The value of the adjustment coefficient n is used to recalculate the shortest distance ε until a value that satisfies ε<ε is found. max The inscribed arc C I At this time, this design scheme connects the transition curves C0 and C1 at the connection point The endpoint curvature at Δ is the tolerance value. In this design, Δ=0.01mm.

[0099] Compared with the existing technology, the present invention can effectively ensure that the maximum error of the transition curve at the corner is ε max within the permitted range.

[0100] In some optional implementations of the present application, the first curve control point 2 is determined based on the endpoint curvature k(1). First curve control point three And the first curve control point four The steps of obtaining the coordinate data specifically include the following steps:

[0101] Calculate the first curve control point To the first curve control point 2 The length of the first curve is L0, the first curve control point is To the first curve control point 3 The length of L1 and the first curve control point three To the first curve control point 4 The length is L2;

[0102] Determined according to the monotonic change law of curvature as well as in, s represents the proportional coefficient of the control point length;

[0103] First curve control point 2 Expressed as

[0104] First curve control point three Expressed as Among them, T1 represents the arc trajectory data at the first curve control point. The unit tangent vector T0 is rotated by π-a in the direction of the arc trajectory data to obtain the vector The unit vector of

[0105] First curve control point 4 Expressed as Among them, T2 represents the unit vector T1 rotated by π-a in the direction of the arc trajectory data to obtain the vector A unit vector, wherein the first transition curve C0 includes a first curve control point First curve control point 2 First curve control point three And the first curve control point four The second transition curve C1 includes a second curve control point Second curve control point 2 Second curve control point three And the second curve control point four Among them, the first curve control point four And the second curve control point 1 is the joint point of the first transition curve C0 and the second transition curve C1, and the first curve control point The first curve control point 2 The first curve control point three And the first curve control point four The following conditions must be met:

[0106]

[0107] s cos(π-α)=-s cos(α)=1

[0108] Wherein, s represents the proportional coefficient of the length of the control point of the first transition curve C0;

[0109] The second curve control point 1 The second curve control point 2 The second curve control point three With the second curve control point four The following conditions must be met:

[0110]

[0111] λ=0.58,β∈(0,π)

[0112]

[0113] In the embodiment of the present application, the process of determining the coordinates of the control points of the transition curve C0 may be:

[0114] make First, calculate the side lengths L0, L1, L2 of the control polygon of the transition curve C0. Curvature At the point The curvature k(1) is:

[0115]

[0116] According to the transition curve C0 characteristics of monotonic curvature change, Substituting into the above formula, we can get According to scos(α)=-1, α=π-acos(1 / s).

[0117] Then, point The endpoint tangent vector T0 at the point is rotated π-α in the direction of the arc C to obtain the vector Then, the unit vector T1 is rotated π-α along the direction of the arc C to obtain the vector The unit vector T2, where the unit vectors T1 and T2 are calculated as follows:

[0118]

[0119] Finally, the other control points of the transition curve C0 They can be expressed as follows:

[0120]

[0121] In the embodiment of the present application, the four control points of the transition curve C0 are and The four control points of the transition curve C1 are and and It is the joint point of curve C0 and curve C1. Transition curves C0 and C1 are not only at the joint point Satisfies G2 continuity and also corresponds to the original arc C and straight line L at point and point G2 continuity is also satisfied.

[0122] In the embodiment of the present application, the focus of the present application is to select transition curves C0 and C1 with monotonic curvature. In order to make the transition curve C0 satisfy the curvature monotonicity and the endpoint curvature is non-zero, let In this design, the four control points of the constraint transition curve C0 satisfy the following relationship:

[0123]

[0124] s cos(π-α)=-scos(α)=1

[0125] In the above formula, s is the proportional coefficient of the control point length. The curvature of the Bezier curve with non-zero endpoint curvature is monotonic and G2 continuous, and its curvature example is shown in Figure 3 、 Figure 4 As shown, Figure 4 The horizontal axis represents the curvature, and the vertical axis represents the proportional coefficient s of the control point length.

[0126] Similarly, in order to make the transition curve C1 satisfy the curvature monotonicity and have the curvature of one endpoint consistent with the straight line curvature 0, let In this application, the four control points of the constraint transition curve C1 satisfy the following relationship:

[0127]

[0128] λ=0.58,β∈(0,π)

[0129]

[0130] In the above formula, there is a Bezier curve with a curvature of 0 at the endpoint, which is monotonic and G2 continuous. The curvature example is shown in Figure 5 、 Figure 6 As shown, Figure 6 The horizontal axis represents the proportional coefficient s of the control point length, and the vertical axis represents the curvature.

[0131] Compared with the prior art, this application can effectively confirm the first curve control point First curve control point three And the first curve control point four coordinate data.

[0132] In some optional implementations of the present application, in order to ensure that the control point of the transition curve C0 On the inside of the CL corner. This design uses the triangle exterior angle relationship for detection. Figure 2 For example, extend the line segment and P2P1 intersect at point Q. If in Then the other control points of the transition curve C0 are explained On the inside of the CL corner. Otherwise, increase the central angle The value of the adjustment coefficient m is used to recalculate the angle γ until the angle γ≤0.5π.

[0133] In some optional implementations of the embodiments of the present application, the above-mentioned first curve control point three Coordinate data of the first curve control point The coordinate data and the endpoint curvature k(1) determine the second curve control point 1 Second curve control point 2 Second curve control point three And the second curve control point four The steps of obtaining the coordinate data specifically include the following steps:

[0134] In order to ensure that the transition curve C0 and the transition curve C1 are connected Can satisfy G2 continuity, then the point The three points are collinear, and

[0135]

[0136] In the above formula, point By calculating the point The intersection of the straight line and the straight lines where line segments P2 and P1 are located.

[0137] Next, let Substituting into the above formula, we can know Then according to Inversely calculate μ, λ. Finally, according to the curvature monotonic change transition curve C1 characteristics, it is judged that λ<0.58, indicating that the curvature monotonic change transition curve C1 has not been found. Otherwise, it means that the curvature monotonic change transition curve C1 has been found. At this time, the control point of the transition curve C1 and They are:

[0138]

[0139] In order to ensure the control point of transition curve C1 In order to smoothly transition between corners of a continuous trajectory, it is necessary to detect control points The distance to the corner point P1, if Describe the control point you are looking for Satisfy the smooth transition of the continuous trajectory, otherwise it is not satisfied, then the center angle can be increased The value of the adjustment coefficient m is adjusted and the transition curves C0 and C1 are reconstructed.

[0140] Compared with the prior art, this application can effectively determine the second curve control point Second curve control point 2 Second curve control point three And the second curve control point four coordinate data.

[0141] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware via computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes in the above-described method embodiments. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0142] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0143] Further references Figure 7 , as a response to the above Figure 1 In order to realize the method shown in the figure, the present application provides an embodiment of a device for generating an inscribed transition curve for laser cutting. Figure 1 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0144] like Figure 7 As shown, the inscribed transition curve generating device 200 for laser cutting according to an embodiment of the present application includes:

[0145] The trajectory data acquisition module 210 is used to acquire the linear trajectory data and the arc trajectory data of the laser cutting;

[0146] An inscribed transition curve determination module 220 is used to determine whether an inscribed transition curve is required to be constructed at the corner of the straight line trajectory data and the arc trajectory data;

[0147] A transition curve construction module 230 is configured to construct a first transition curve C0 and a second transition curve C1 with continuous G2 and monotonic curvature if an inscribed transition curve is required for the corner;

[0148] The splicing module 240 is configured to perform a G2 continuous splicing operation on the first transition curve C0 and the second transition curve C1 to obtain a target inscribed transition curve.

[0149] Compared with the existing technology, this application uses two segments of G2 continuous Bezier curve splicing, which can not only achieve G2 continuity of non-tangent corners of straight lines and circular arcs, but also ensure the accuracy of corners. At the same time, there is no need to iteratively calculate the extreme curvature points of the transition curve, reducing the uncertainty of the curvature extreme value on speed constraints, and further improving the practical application effect of straight line and circular arc corners.

[0150] In some optional implementations of the embodiments of the present application, the above-mentioned inscribed transition curve judgment module 220 includes: an inscribed transition curve judgment point selection submodule, a judgment point-circle center distance calculation submodule, a judgment point-circle center distance judgment submodule, a confirmation-not-required submodule, and a confirmation-required submodule, wherein:

[0151] The inscribed transition curve judgment point selection submodule is used to select the inscribed transition curve judgment point P in the straight line trajectory data. m ;

[0152] The judgment point-circle center distance calculation submodule is used to calculate the judgment point P of the inscribed transition curve m The distance d to the center C0 of the arc trajectory data;

[0153] The point-center distance judgment submodule is used to judge whether the distance d is greater than or equal to the radius R of the arc trajectory data;

[0154] A no-need confirmation submodule is used to determine that the corner does not need to construct an inscribed transition curve if it is greater than or equal to;

[0155] A submodule needs to be determined, which is used to determine that if it is less than , the corner needs to construct an inscribed transition curve.

[0156] In some optional implementations of the embodiments of the present application, the first transition curve C0 includes a first curve control point First curve control point 2 First curve control point three And the first curve control point four The second transition curve C1 includes a second curve control point Second curve control point 2 Second curve control point three And the second curve control point four Among them, the first curve control point four And the second curve control point is the splicing point of the first transition curve C0 and the second transition curve C1. The transition curve construction module 240 includes: a first coordinate data determination submodule, an endpoint curvature calculation submodule, a second coordinate data determination submodule, and a third coordinate data determination submodule, wherein:

[0157] The first curve control point coordinate determination submodule is used to determine the first curve control point coordinate on the arc trajectory data. Coordinate data of

[0158] The endpoint curvature calculation submodule is used to calculate the curvature of the first curve control point. Calculate the first transition curve C0 and the second transition curve C1 at the connection point The endpoint curvature k(1) at ;

[0159] The second coordinate data determination submodule is used to determine the first curve control point 2 according to the endpoint curvature k(1). First curve control point three And the first curve control point four Coordinate data of

[0160] The third coordinate data determination submodule is used to determine the coordinate data of the first curve control point three Coordinate data of the first curve control point The coordinate data and the endpoint curvature k(1) determine the second curve control point 1 Second curve control point 2 Second curve control point three And the second curve control point four coordinate data.

[0161] In some optional implementations of the embodiments of the present application, the first curve control point coordinate determination submodule includes: an arc trajectory center angle calculation unit, a first curve control point center angle determination unit, a first initialization unit, a unit tangent vector T0 calculation unit, a unit tangent vector T L a calculation unit, an angle γ calculation unit, a first curve control point coordinate determination unit, and a first initialization repetition execution unit, wherein:

[0162] Arc trajectory center angle calculation unit, used to calculate the center angle θ of the arc trajectory data c ;

[0163] The first curve control point-center angle determination unit is used to determine the first curve control point-center angle. The central angle of the arc corresponding to the corner point P1 of the linear trajectory data and the arc trajectory data is

[0164] The first initialization unit is used to make the central angle of the arc corresponding to the corner point P1 is mθ c , where m represents the central angle of the circle The adjustment factor;

[0165] The unit tangent vector T0 calculation unit is used to calculate the arc trajectory data at the first curve control point. The unit tangent vector T0 of the unit tangent vector is

[0166] Unit tangent vector T L Calculation unit, used to calculate the unit tangent vector T of the linear trajectory data L ;

[0167] Angle γ calculation unit, used to calculate the unit tangent vector T0 and the unit tangent vector T L The angle γ;

[0168] The first curve control point coordinate determination unit is used to determine the first curve control point if the angle γ≤0.5π. Satisfy the arc inscribed transition conditions;

[0169] The first initialization repetitive execution unit is used to confirm the first curve control point if the angle γ>0.5π The arc inscribed transition condition is not met and the center angle is increased The value of the adjustment coefficient m until the first control point Satisfy the arc inscribed transition conditions.

[0170] In some optional implementations of the embodiments of the present application, the arc trajectory central angle calculation unit includes: a drawing direction determination subunit, a ret determination subunit, a first arc trajectory central angle determination subunit, a second arc trajectory central angle determination subunit, a third arc trajectory central angle determination subunit, and a fourth arc trajectory central angle determination subunit, wherein:

[0171] A drawing direction determination subunit is used to set the corner point P1 of the straight line trajectory data and the arc trajectory data as the drawing end point of the arc trajectory data, and to determine the drawing direction of the arc trajectory data;

[0172] ret determines the subunit, which is used to make the vector product ret = C0P0 × C0P1;

[0173] The first arc trajectory center angle determination subunit is used to not adjust the arc trajectory data's center angle θ if the vector product ret>0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 counterclockwise. c ;

[0174] The second arc trajectory center angle determination subunit is used to determine the arc trajectory data center angle θ if the vector product ret>0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 clockwise. c Adjusted to 2π-θ c ;

[0175] The third arc trajectory center angle determination subunit is used to determine the arc trajectory data center angle θ if the vector product ret≤0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 in the counterclockwise direction. c Adjusted to 2π-θ c ;

[0176] The fourth arc trajectory center angle determination subunit is used to not adjust the arc trajectory data center angle θ if the vector product ret ≤ 0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 clockwise. c .

[0177] In some optional implementations of the embodiments of the present application, the endpoint curvature calculation submodule includes: t (x ti ,y ti )Select unit, P t (x ti ,y ti ) Central angle determination unit, second initialization unit, inscribed arc C I an acquisition unit, a shortest distance ε calculation unit, an endpoint curvature determination unit, and a second initialization repetition execution unit, wherein:

[0178] P t (x ti ,y tt ) selection unit, used to select point P on the arc trajectory data C t (x ti ,y ti );

[0179] P t (x ti ,y ti ) The center angle determination unit is used to make point P t (x ti ,y ti ) to the center angle of the corner point P1 is

[0180] The second initialization unit is used to make point P t (x ti ,y ti ) to the center angle of the corner point P1 is nθ c , where n represents the central angle The adjustment factor;

[0181] Inscribed arc C I Get the unit for point P t (x ti ,y ti ) to obtain the inscribed arc C I , where the inscribed arc C I Intact with arc trajectory data at point P t (x ti ,y ti ), and the inscribed arc C I Tangent to the straight line trajectory data;

[0182] The shortest distance ε calculation unit is used to calculate the distance from the corner point P1 to the inscribed arc C I The shortest distance ε;

[0183] Endpoint curvature determination unit, used if the shortest distance ε is less than the maximum corner error ε max , then determine the first transition curve C0 and the second transition curve C1 at the connection point The endpoint curvature at is determined as Where Δ represents the tolerance value, R I Indicates the inscribed arc C I radius;

[0184] The second initialization repetition execution unit is used to initialize the shortest distance ε if it is greater than or equal to the maximum corner error ε. max , then increase the central angle The value of the adjustment coefficient n is adjusted until the shortest distance ε is less than the maximum corner error ε max .

[0185] In some optional implementations of the embodiments of the present application, the second coordinate data determination submodule includes: a control point length confirmation unit, a control point length calculation unit, a first curve control point second determination unit, a first curve control point third determination unit, and a first curve control point fourth determination unit, wherein:

[0186] A control point length confirmation unit is used to calculate the length of the first curve control point. To the first curve control point 2 The length of the first curve is L0, the control point of the first curve is L1. To the first curve control point three The length of the first curve is L1 and the control point three To the first curve control point four The length is L2;

[0187] The control point length calculation unit is used to determine the curvature monotonicity change law as well as in, s is the proportional coefficient of the control point length;

[0188] The first curve control point second determining unit is used for determining the first curve control point second Expressed as

[0189] The first curve control point three determining unit is used for determining the first curve control point three Expressed as Wherein, T1 represents the arc trajectory data at the first curve control point. The unit tangent vector T0 is rotated by π-a according to the direction of the arc trajectory data to obtain the vector The unit vector of

[0190] A first curve control point four determining unit for determining the first curve control point four Expressed as Wherein, T2 represents the unit vector T1 rotated by π-a according to the direction of the arc trajectory data to obtain the vector A unit vector, wherein the first transition curve C0 includes a first curve control point First curve control point 2 First curve control point three And the first curve control point four The second transition curve C1 includes a second curve control point Second curve control point 2 Second curve control point three And the second curve control point four Among them, the first curve control point four And the second curve control point 1 is the joint point of the first transition curve C0 and the second transition curve C1, and the first curve control point The first curve control point 2 The first curve control point three And the first curve control point four The following conditions must be met:

[0191]

[0192] s cos(π-α)=-s cos(α)=1

[0193] Wherein, s represents the proportional coefficient of the length of the control point of the first transition curve C0;

[0194] The second curve control point 1 The second curve control point 2 The second curve control point three With the second curve control point four The following conditions must be met:

[0195]

[0196] λ=0.58,β∈(0,π)

[0197]

[0198] To solve the above technical problems, the present application also provides a computer device. Figure 8 , Figure 8 This is a basic structural block diagram of the computer device according to an embodiment of the present application.

[0199] The computer device 300 includes a memory 310, a processor 320, and a network interface 330 that are interconnected through a system bus. It should be noted that the figure only shows a computer device 300 having components 310-330, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0200] The computer device may be a desktop computer, notebook computer, PDA, cloud server, etc. The computer device may interact with the user via a keyboard, mouse, remote control, touchpad, or voice control device.

[0201] The memory 310 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic storage, magnetic disk, optical disk, etc. In some embodiments, the memory 310 may be an internal storage unit of the computer device 300, such as a hard disk or memory of the computer device 300. In other embodiments, the memory 310 may also be an external storage device of the computer device 300, such as a plug-in hard disk equipped on the computer device 300, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Of course, the memory 310 may also include both the internal storage unit of the computer device 300 and its external storage device. In the embodiment of the present application, the memory 310 is generally used to store an operating system and various application software installed on the computer device 300, such as computer-readable instructions for a method for generating an inscribed transition curve for laser cutting. In addition, the memory 310 can also be used to temporarily store various data that has been output or is about to be output.

[0202] In some embodiments, the processor 320 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor 320 is generally used to control the overall operation of the computer device 300. In the embodiment of the present application, the processor 320 is used to execute computer-readable instructions or process data stored in the memory 310, such as executing computer-readable instructions for the method for generating an inscribed transition curve for laser cutting.

[0203] The network interface 330 may include a wireless network interface or a wired network interface. The network interface 330 is generally used to establish a communication connection between the computer device 300 and other electronic devices.

[0204] The computer device provided in this application uses two segments of G2 continuous Bezier curves to splice together, which can not only achieve G2 continuity of non-tangent corners of straight lines and circular arcs, but also ensure the accuracy of corners. At the same time, there is no need to iteratively calculate the extreme curvature points of the transition curve, which reduces the uncertainty of the curvature extreme value on speed constraints and further improves the practical application effect of straight line and circular arc corners.

[0205] The present application also provides another embodiment, namely, providing a computer-readable storage medium, which stores computer-readable instructions, and the computer-readable instructions can be executed by at least one processor to enable the at least one processor to perform the steps of the inscribed transition curve generation method for laser cutting as described above.

[0206] The computer-readable storage medium provided in this application uses two segments of G2-continuous Bezier curves to splice together, which can not only achieve G2 continuity of non-tangent corners of straight lines and circular arcs, but also ensure the accuracy of corners. At the same time, there is no need to iteratively calculate the extreme curvature points of the transition curve, which reduces the uncertainty of the curvature extreme value on speed constraints and further improves the practical application effect of straight line and circular arc corners.

[0207] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0208] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A method for generating an inscribed transition curve for laser cutting, characterized in that: The steps include: Obtain the linear trajectory data and arc trajectory data of laser cutting; Determining whether the corners of the straight line trajectory data and the circular arc trajectory data need to construct an inscribed transition curve; If the corner needs to construct an inscribed transition curve, a first transition curve C0 and a second transition curve C1 with continuous G2 and monotonic curvature are constructed; Perform a G2 continuous splicing operation on the first transition curve C0 and the second transition curve C1 to obtain a target inscribed transition curve.

2. The method for generating an inscribed transition curve for laser cutting according to claim 1, characterized in that: The step of determining whether the corners of the straight line trajectory data and the circular arc trajectory data need to construct an inscribed transition curve specifically includes the following steps: Select the inscribed transition curve judgment point P in the linear trajectory data m ; Calculate the inscribed transition curve judgment point P m The distance d to the center C0 of the arc trajectory data; Determine whether the distance d is greater than or equal to the radius R of the arc trajectory data; If it is greater than or equal to, it is determined that the corner does not need to construct an inscribed transition curve; If it is less than, it is determined that the corner needs to construct an inscribed transition curve.

3. The method for generating an inscribed transition curve for laser cutting according to claim 1, wherein: The first transition curve C0 includes a first curve control point First curve control point 2 First curve control point three And the first curve control point four The second transition curve C1 includes a second curve control point Second curve control point 2 Second curve control point three And the second curve control point four Among them, the first curve control point four And the second curve control point 1 It is the splicing point of the first transition curve C0 and the second transition curve C1. If the corner needs to construct an inscribed transition curve, the step of constructing the first transition curve and the second transition curve with G2 continuous and monotonic curvature specifically includes the following steps: Determine the first curve control point on the arc trajectory data. Coordinate data of According to the first curve control point Calculate the first transition curve C0 and the second transition curve C1 at the connection point The endpoint curvature k(1) at ; Determine the first curve control point 2 according to the endpoint curvature k(1) The first curve control point three And the first curve control point four Coordinate data of According to the first curve control point three The coordinate data of the first curve control point four The coordinate data of the second curve control point and the endpoint curvature k(1) are used to determine The second curve control point 2 The second curve control point three With the second curve control point four coordinate data.

4. The method for generating an inscribed transition curve for laser cutting according to claim 3, wherein: Determining the first curve control point on the arc trajectory data The steps of obtaining the coordinate data specifically include the following steps: Calculate the center angle θ of the arc trajectory data c ; Let the first curve control point The central angle of the arc corresponding to the corner point P1 of the linear trajectory data and the arc trajectory data is Let the central angle of the arc corresponding to the corner point P1 be is mθ c , where m represents the central angle of the circle The adjustment factor; Calculate the arc trajectory data at the first curve control point The unit tangent vector T0, wherein the vector direction of the unit tangent vector T0 is Calculate the unit tangent vector T of the linear trajectory data L ; Calculate the unit tangent vector T0 and the unit tangent vector T L The angle γ; If the angle γ≤0.5π, then the first curve control point is confirmed. Satisfy the arc inscribed transition condition and obtain the first curve control point Coordinate data of If the angle γ>0.5π, then the first curve control point is confirmed. The arc inscribed transition condition is not met, and the center angle is increased The value of the adjustment coefficient m is used to recalculate the angle γ until the angle γ≤0.5π.

5. The method for generating an inscribed transition curve for laser cutting according to claim 4, wherein: The calculation of the center angle θ of the arc trajectory data c The steps specifically include the following steps: Let the corner point P1 of the straight line trajectory data and the circular arc trajectory data be the drawing end point of the circular arc trajectory data, and determine the drawing direction of the circular arc trajectory data; Get the starting point coordinate P0 of the arc trajectory data, and set the vector product ret=C0P0×C0P1; If the vector product ret>0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 in the counterclockwise direction, the center angle θ of the arc trajectory data is not adjusted. c ; If the vector product ret>0 and the drawing direction of the arc trajectory data is from the vector C0P0 to the vector C0P1 clockwise, then the center angle θ of the arc trajectory data is c Adjusted to 2π-θ c ; If the vector product ret≤0 and the drawing direction of the arc trajectory data is from the angle of vector C0P0 to the vector C0P1 in the counterclockwise direction, then the center angle θ of the arc trajectory data is c Adjusted to 2π-θ c ; If the vector product ret≤0 and the drawing direction of the arc trajectory data is the angle from vector C0P0 to vector C0P1 clockwise, the center angle θ of the arc trajectory data is not adjusted. c .

6. The method for generating an inscribed transition curve for laser cutting according to claim 3, characterized in that: The first curve control point Calculate the first transition curve C0 and the second transition curve C1 at the connection point The step of calculating the endpoint curvature k(1) at , specifically comprises the following steps: Select point P on the arc trajectory data C t (x ti ,y ti ); Let the point P t (x ti ,y ti ) to the center angle of the corner point P1 is Let the point P t (x ti ,y ti ) to the center angle of the corner point P1 is nθ c , where n represents the central angle of the circle The adjustment factor; At the point P t (x ti ,y ti ) to obtain the inscribed arc C I , wherein the inscribed arc C I The arc trajectory data is inscribed at the point P t (x ti ,y ti ), and the inscribed arc C I Tangent to the straight line trajectory data; Calculate the distance from the corner point P1 to the inscribed arc C I The shortest distance ε; If the shortest distance ε is less than the maximum corner error ε max , then determine the first transition curve C0 and the second transition curve C1 at the connection point The endpoint curvature at is determined as Where Δ represents the tolerance value, R I Represents the inscribed arc C I radius; If the shortest distance ε is greater than or equal to the maximum corner error ε max , then increase the central angle The value of the adjustment coefficient n is used to recalculate the shortest distance ε until the shortest distance ε is less than the maximum corner error ε max .

7. The method for generating an inscribed transition curve for laser cutting according to claim 3, wherein: The first curve control point 2 is determined according to the endpoint curvature k(1). The first curve control point three And the first curve control point four The steps of obtaining the coordinate data specifically include the following steps: Calculate the first curve control point To the first curve control point 2 The length of the first curve is L0, the control point of the first curve is L1. To the first curve control point three The length of the first curve is L1 and the control point three To the first curve control point four The length is L2; Determined according to the monotonic change law of curvature as well as in, s represents the proportional coefficient of the control point length; The first curve control point 2 Expressed as The first curve control point three Expressed as Wherein, T1 represents the arc trajectory data at the first curve control point. The unit tangent vector T0 is rotated by π-a according to the direction of the arc trajectory data to obtain the vector The unit vector of The first curve control point four Expressed as Wherein, T2 represents the unit vector T1 rotated by π-a according to the direction of the arc trajectory data to obtain the vector The unit vector of the first curve control point is The first curve control point 2 The first curve control point three And the first curve control point four The following conditions must be met: s cos(π-α)=-s cos(α)=1 Wherein, s represents the proportional coefficient of the length of the control point of the first transition curve C0; The second curve control point 1 The second curve control point 2 The second curve control point three With the second curve control point four The following conditions must be met: λ=0.58,β∈(0,π) 8. A device for generating an inscribed transition curve for laser cutting, characterized in that: include: Trajectory data acquisition module, used to obtain linear trajectory data and arc trajectory data of laser cutting; An inscribed transition curve judgment module, used to judge whether the corners of the straight line trajectory data and the arc trajectory data need to construct an inscribed transition curve; A transition curve construction module, configured to construct a first transition curve C0 and a second transition curve C1 with continuous G2 and monotonic curvature if an inscribed transition curve is required for the corner; The splicing module is used to perform a G2 continuous splicing operation on the first transition curve C0 and the second transition curve C1 to obtain a target inscribed transition curve.

9. A computer device comprising a memory and a processor, characterized in that: The memory stores computer-readable instructions, and when the processor executes the computer-readable instructions, the steps of the method for generating an inscribed transition curve for laser cutting according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-readable instructions, which, when executed by a processor, implement the steps of the method for generating an inscribed transition curve for laser cutting according to any one of claims 1 to 7.

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