Method for conducting path planning based on three-dimensional scatter point set data of free camber

Abstract

The invention relates to a method of making a path planning for three-dimensional dispersed point set based on free curved surface, fitting the 3D discrete data points into a triangular Bernstein-Be'zier curved surface by the interpolation reconstruction of dispersed data points of the free curved surface and then using the Bernstein-Be'zier curved surface to make six-dimensional track planning for the obtained interpolation curved surface; for track planning in the arbitrary direction, able to obtain the track planning by transforming this coordinate direction to x-y coordinate direction; the Bernstein-Be'zier curved surface is a ternary triangular Bernstein-Be'zier curved surface. The invention utilizes the Bernstein-Be'zier curved surface to make the fitting and plan six-dimensional processing track on the interpolation curved surface for the curved surface of 3D dispersed point set data, thus implementing the path planning for 3D dispersed point set data of arbitrary free curved surface.

Description

technical field [0001] The invention relates to the field of computer control of integrated laser processing, in particular to a method for path planning based on three-dimensional scattered point set data of a free-form surface. Background technique [0002] In the prior art, laser surface strengthening requires that the laser optical axis, that is, the laser processing head, be perpendicular to the processing surface. In this way, when planning the processing path, not only the three-dimensional spatial position of the processing point, but also the normal vector corresponding to the processing point must be obtained. At present, with the three-dimensional discrete data of the free-form surface as the data source of the system, the main method to realize the path planning of the laser surface enhancement of the free-form surface is to use the B-Spline or NURBS surface as the basis to fit the free-form surface of the spatially scattered data, and then , correspondingly use ...

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Problems solved by technology

[0003] For example, US Patent No. US5363479, titled "SYSTEM AND METHOD FOR RENDERING BEZIER SPLINES", describes a system and method for simulating Bézier curves in a computer graphics system, which approximates Bézier curves by a finite number of straight line segments generated by vector addition and subtraction Curves, this method is limited to the processing of curves, and the obtained discrete straight line segments are non-equal, and cannot be applied to the strengthening of laser surfaces; Patent No. US5818459, the description of the US patent titled "DATA CONVERSION APPARATUS AND METHODUSING CONTROL POINTS OFACURVE" An instrument that automatically converts the cubic fitting curve to the twice fitting curve is a device for curve processing, which also does not meet the requirements of laser surface strengthening; patent No. JP10198812, titled "APPROXIMATING METHOD FOR FREE-FORMSURFACE" The patent describes a method for optimizing free-form surfaces using NURBS surfaces to approximate arbitrary boundaries. This method transforms the four boundary curves of the original surface into cubic B-Spline curves to realize the approach of free-form surfaces to a NURBS surface. The patent combines a node vector The corresponding two cubic B-Spline curves mesh the approximate free-form surface, and each grid is approximated by a cubic C1 continuous Besizer surface, so that all cubic Besizer surfaces are connected into a NURBS surface, and the surface fitting The procedure does not address the path planning problem

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