Trajectory planning method and device for multiple surfaces

Abstract

The present invention provides a trajectory planning method and device for multiple curved surfaces. The method comprises: using a cross-section method to obtain an intersection curve for a plurality of space curved surfaces to obtain a trajectory path; sorting the intercepted disordered intersection curves to obtain ordered intersection curves; obtaining the coordinates of the trajectory points and the corresponding trajectory point vectors discretized in sequence for each ordered intersection curve; obtaining the posture of each trajectory point according to each trajectory point vector, and completing the trajectory planning for a plurality of space curved surfaces. The present invention can reduce the tedious operation of external merging of curved surfaces, improve the efficiency and applicability of offline programming, can arbitrarily generate a path without angle constraints, improve the disordered nature of the intersection curve, and simplify the process of obtaining the posture of the trajectory point from discrete points.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of surface grinding and polishing technology, and in particular to a trajectory planning method and device for multiple curved surfaces. Background Art

[0002] At present, offline trajectory planning technology has been maturely applied in the robot grinding or polishing industry, but most trajectory planning methods are based on a single face of the model. In actual production needs, complex spatial models often cannot be described by a whole face. Therefore, the CAD models provided by many manufacturers are often composed of fragmented surfaces. In order to generate a unified grinding trajectory, the model has to be processed twice and stitched into a whole surface. Therefore, in actual applications, the operation is often cumbersome, and it often takes a lot of time to process the model problem before the robot can operate normally, which has a great impact on the automation and efficiency of the entire system. Therefore, the development of a trajectory planning method and equipment for multiple surfaces that can effectively overcome the defects in the above-mentioned related technologies has become a technical problem that needs to be solved urgently in the industry. Summary of the invention

[0003] In view of the above problems existing in the prior art, an embodiment of the present invention provides a trajectory planning method and device for multiple surfaces.

[0004] In the first aspect, an embodiment of the present invention provides a trajectory planning method for multiple surfaces, including: using the cross-section method to find the intersection curves of several spatial surfaces to obtain the trajectory path; sorting the intercepted unordered intersection curves to obtain ordered intersection curves; obtaining the trajectory point coordinates and corresponding trajectory point vectors discretized in sequence for each ordered intersection curve; according to each trajectory point vector, obtaining the posture of each trajectory point to complete the trajectory planning for several spatial surfaces.

[0005] Based on the content of the above method embodiments, the trajectory planning method for multiple surfaces provided in the embodiments of the present invention uses the cross-section method to find the intersection curves of several spatial surfaces to obtain the trajectory path, including: using the minimum bounding box of the direction bounding box to represent the state of the multiple surfaces, wherein the main direction or the trajectory path direction is the normal of the cutting plane, the bounding box boundary is the upper and lower limits of the cutting plane, and a plane with several intersecting spatial surfaces is generated at equal intervals, and the intersection curve where each cutting plane intersects with the spatial surface is obtained, and the obtained intersection curve and the corresponding spatial surface are stored in a temporary database.

[0006] Based on the content of the above method embodiments, a trajectory planning method for multiple surfaces provided in an embodiment of the present invention, wherein the intercepted disordered intersection curves are sorted to obtain ordered intersection curves, including: if the intercepted disordered intersection curves are continuous curves, the order of the intersection curves is determined by whether the first and last points coincide with each other, except for the first and last points of all the intersection curves, each intermediate endpoint has one and only one pair of curves with the same endpoint value, and if the tail parameter point of the first curve cannot find the head parameter point of the second curve, the second curve is searched in reverse to unify the directions of the intersection curves.

[0007] Based on the content of the above method embodiment, the trajectory planning method for multiple surfaces provided in the embodiment of the present invention, wherein the intercepted disordered intersection curves are sorted to obtain ordered intersection curves, further comprises: if the intercepted disordered intersection curves are discrete curves, then comprising:

[0008]

[0009] Among them, min is the minimum value, D 11 is the distance between the end point of the third intersection curve and the end point of the fourth intersection curve, D 12 is the distance between the end point of the third intersection curve and the end point of the fifth intersection curve, D 1n D is the distance between the end point of the third intersection curve and the end point of the n+3th intersection curve, pnt1 is the first minimum distance, D pnt2 is the second minimum distance, D 21 is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the fourth intersection curve, D 22 is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the fifth intersection curve, D 2n is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the n+3th intersection curve, pnt1 is the end point of the third intersection curve, and pnt2 is the endpoint corresponding to the first minimum distance; if D pnt1 The corresponding endpoint is pnt2,D pnt2 The corresponding endpoint is pnt1, and pnt2 is determined to be the starting point of the curve adjacent to the third intersection curve where pnt1 is located.

[0010] Based on the content of the above method embodiments, the trajectory planning method for multiple surfaces provided in the embodiments of the present invention, wherein the coordinates of the trajectory points discretely obtained in sequence for each ordered intersection curve are obtained, comprises: after obtaining the ordered intersection curve trajectory, traversing them in sequence, and using the equal spacing or equal chord height error method to obtain the coordinates of each discrete point on the ordered intersection curve trajectory.

[0011] Based on the content of the above method embodiments, the trajectory planning method for multiple surfaces provided in the embodiments of the present invention, the obtaining of the corresponding trajectory point vector includes: obtaining the UV parameters of the surface corresponding to the intersection curve projected on the discrete trajectory point coordinates, obtaining the surface normal vector of the current trajectory point position according to the UV parameter coordinates, and obtaining the tangent vector of the intersection curve where the current trajectory point is located.

[0012] Based on the content of the above method embodiment, the trajectory planning method for multiple surfaces provided in the embodiment of the present invention, wherein the posture of each trajectory point is obtained according to each trajectory point vector, and the trajectory planning for several spatial surfaces is completed, including: the normal vector and the tangent vector constitute the posture of the trajectory point, and the postures of all the trajectory points are sorted and stored in sequence to obtain the trajectory points for trajectory planning of several spatial surfaces.

[0013] In the second aspect, an embodiment of the present invention provides a trajectory planning device for multiple surfaces, including: a first main module, used to use a cross-section method to find intersection curves for several spatial surfaces to obtain a trajectory path; a second main module, used to sort the intercepted unordered intersection curves to obtain ordered intersection curves; a third main module, used to obtain the trajectory point coordinates and corresponding trajectory point vectors discretized in sequence for each ordered intersection curve; a fourth main module, used to obtain the posture of each trajectory point according to each trajectory point vector, and complete the trajectory planning for several spatial surfaces.

[0014] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0015] at least one processor; and

[0016] at least one memory in communication with the processor, wherein:

[0017] The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the trajectory planning method for multiple surfaces provided by any one of the various implementations of the first aspect.

[0018] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions enable a computer to execute a trajectory planning method for multiple surfaces provided by any one of the various implementation methods of the first aspect.

[0019] The trajectory planning method and device for multiple surfaces provided by the embodiments of the present invention use the cross-section method to obtain intersection curves for several spatial surfaces, sort the intercepted disordered intersection curves to obtain ordered intersection curves, obtain the trajectory point coordinates and corresponding trajectory point vectors discretized in sequence for each ordered intersection curve, and obtain the posture of each trajectory point accordingly. This can reduce the tedious operations of external merging of surfaces, improve the efficiency and applicability of offline programming, and can arbitrarily generate paths without angle constraints, improve the disordered nature of the intersection curves, and simplify the process of obtaining the posture of trajectory points from discrete points. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A flow chart of a trajectory planning method for multiple curved surfaces provided by an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the structure of a trajectory planning device for multiple curved surfaces provided by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the trajectory of the intersection curve provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the spatial arrangement of discrete intersection curves provided in an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the effect of sorting the intersection curves provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention can be arbitrarily combined with each other to form a feasible technical solution. This combination is not subject to the constraints of the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] The embodiment of the present invention provides a trajectory planning method for multiple curved surfaces. Figure 1 The method includes: using the cross-section method to obtain the intersection curves of several space surfaces to obtain the trajectory path; sorting the intercepted disordered intersection curves to obtain ordered intersection curves; obtaining the trajectory point coordinates and corresponding trajectory point vectors discretized in sequence from each ordered intersection curve; according to each trajectory point vector, obtaining the posture of each trajectory point, and completing the trajectory planning of several space surfaces.

[0029] Based on the content of the above method embodiment, as an optional embodiment, the trajectory planning method for multiple surfaces provided in the embodiment of the present invention, which uses the cross-section method to find the intersection curves of several spatial surfaces to obtain the trajectory path, includes: using the minimum bounding box of the direction bounding box to represent the state of the multiple surfaces, wherein the main direction or the trajectory path direction is the normal of the cutting plane, the bounding box boundary is the upper and lower limits of the cutting plane, and a plane with several intersecting spatial surfaces is generated at equal intervals, and the intersection curve where each cutting plane intersects with the spatial surface is obtained, and the obtained intersection curve and the corresponding spatial surface are stored in a temporary database.

[0030] Specifically, surface features are used to obtain the spacing, spatial position and direction of the cutting planes. In order to quickly and accurately reflect the overall characteristics of multiple surfaces, the minimum bounding box method of OBB (i.e., directional bounding box) is used to represent the state of multiple surfaces. The main direction represents the normal of the cutting plane, and the normal of the cutting plane (i.e., the direction of the trajectory path) can also be customized. Then, the bounding box boundary is used as the upper and lower limits of the cutting plane, and an equal spacing method is used to generate a series of planes interspersed with multiple surfaces. Then, the intersection lines of the intersecting surfaces are obtained for each cutting plane in turn, and the corresponding surfaces are stored in a temporary database in turn. The schematic diagram of the intersection curve trajectory is as above Figure 4As shown, the cutting plane P1 intercepts the multi-surface model to obtain the trajectory path: the A1, A2, A3, and A4 intersection curves are connected end to end to form a line trajectory, and the numbers represent the storage order of the line segments in the database. The cutting plane P2 intercepts the multi-surface model to obtain the trajectory path: the B1, B2, and B3 intersection curves are connected end to end to form a line trajectory, where Figure 4 It can be seen from the above that there is a hole between B1 and B2. However, the storage order cannot be guaranteed to be sorted from left to right when generating the intersection curve, and the direction of the intersection curve is not completely consistent due to different CAD model construction methods (as indicated by the arrow), resulting in the line segment cannot be directly used and discretized. Therefore, if you want to generate a continuous trajectory for surface robot grinding, you must sort the line segments.

[0031] Based on the content of the above method embodiment, as an optional embodiment, the trajectory planning method for multiple surfaces provided in the embodiment of the present invention, wherein the intercepted disordered intersection curves are sorted to obtain ordered intersection curves, including: if the intercepted disordered intersection curves are continuous curves, the order of the intersection curves is determined by whether the first and last points coincide with each other, except for the first and last points of all the intersection curves, each intermediate endpoint has one and only one pair of curves with the same endpoint value, and if the tail parameter point of the first curve cannot find the head parameter point of the second curve, the second curve is searched in reverse to unify the directions of the intersection curves.

[0032] Specifically, Figure 4 The intersection curves in rows A1 to A4 are continuous intersection curves, and rows B1 to B4 are discrete intersection curves. For the continuous line segments in rows A1 to A4, the order of the intersection curves is determined by whether the first and last points coincide. Except for the first and last points of the entire line segment, each intermediate endpoint has only one pair of curve segments with the same endpoint value. If the last parameter point of the previous curve segment coincides with the first parameter point of the next curve segment, it is necessary to search in the reverse direction of the subsequent curve segments, such as Figure 4 If the end point of line segment A3 coincides with the end point of line segment A1, line segment A3 needs to be reversed to make the direction of the intersection curve from line A1 to line A4 consistent.

[0033] Based on the content of the above method embodiment, as an optional embodiment, the trajectory planning method for multiple surfaces provided in the embodiment of the present invention, wherein the intercepted disordered intersection curves are sorted to obtain ordered intersection curves, further comprises: if the intercepted disordered intersection curves are discrete curves, then comprising:

[0034]

[0035] Among them, min is the minimum value, D 11 is the distance between the end point of the third intersection curve and the end point of the fourth intersection curve, D 12is the distance between the end point of the third intersection curve and the end point of the fifth intersection curve, D 1n D is the distance between the end point of the third intersection curve and the end point of the n+3th intersection curve, pnt1 is the first minimum distance, D pnt2 is the second minimum distance, D 21 is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the fourth intersection curve, D 22 is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the fifth intersection curve, D 2n is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the n+3th intersection curve, pnt1 is the end point of the third intersection curve, and pnt2 is the endpoint corresponding to the first minimum distance; if D pnt1 The corresponding endpoint is pnt2,D pnt2 The corresponding endpoint is pnt1, and pnt2 is determined to be the starting point of the curve adjacent to the third intersection curve where pnt1 is located.

[0036] For details, please refer to Figure 5 , assuming that the order of the four non-continuous intersection curves L1, L2, L3, and L4 is unknown, and the coordinates of the first and last endpoints of each line segment are known. For example, the endpoints of the L1 line segment are pnt0 and pnt1, and the endpoints of the L2 line segment are pnt2 and pnt3. At this time, first compare the distance between the endpoint pnt1 of the L1 line segment and the endpoints of the other line segments, and get the following D 11 ,D 12 ,...D 1n Distance, where the shortest distance D to the L2 endpoint pnt2 is obtained 11 . Since the intersection curve, even if it is discontinuous, still satisfies the condition that the endpoint of a curve segment has at most one corresponding endpoint of another curve segment. If there is no corresponding endpoint, then it is the first and last endpoints of the entire curve segment, such as Figure 5 endpoint pnt0.

[0037] Then use L2 endpoint pnt2 to continue looking for a nearest endpoint, and reversely verify whether the endpoint closest to endpoint pnt2 is pnt1. Get the distance D between pnt2 and the beginning and end points of other line segments 21 ,D 22 ,...D 2n , where the shortest distance D to the L1 endpoint pnt1 is obtained 22 Therefore, it is proved that the L1 line segment and the L2 line segment realize the "connection" of the head and tail of the non-continuous curve segment through the endpoints pnt1 and pnt2, thus achieving the effect of sorting the curve segment.

[0038] Specifically, for the sorting of non-continuous curve segments, such as Figure 5As shown in the figure, the minimum value of the spatial distance between the first and last endpoints of the above four line segments L1, L2, L3, and L4 is used for comparison and sorting. As shown in formula (1), assuming that the distance between the end point pnt1 of the curve segment L1 and the first and last points of the other line segments is D 11 ,D 12 , ...D n , select a minimum distance D pnt1 The corresponding point is pnt2; then use pnt2 to find the distance D between the first and last points of the other line segments 21 ,D 22 ,...D 2n , and determine the minimum distance D pnt2 Is the corresponding endpoint pnt1? If it is correct, pnt2 of L2 is the starting point of the next line segment of L1. If the shortest distance between the two corresponding endpoints cannot be found, then the point is the first and last endpoints pnt0 of the four line segments. Figure 5 As shown, pnt3 is the end point of L2, and subsequent curves can continue to be iteratively compared according to the above method until all curve segments are sorted and the data information is stored in the form of a linked list.

[0039] After the sorting is completed, Figure 6 Shown

[0040] Based on the content of the above method embodiment, as an optional embodiment, the trajectory planning method for multiple surfaces provided in the embodiment of the present invention, wherein the coordinates of the trajectory points discretely obtained in sequence for each ordered intersection curve are obtained, comprises: after obtaining the ordered intersection curve trajectory, traversing them in sequence, and using the equal spacing or equal chord height error method to obtain the coordinates of each discrete point of the ordered intersection curve trajectory.

[0041] Based on the content of the above method embodiment, as an optional embodiment, the trajectory planning method for multiple surfaces provided in the embodiment of the present invention, the obtaining of the corresponding trajectory point vector includes: obtaining the UV parameters of the discrete trajectory point coordinates projected on the surface corresponding to the intersection curve, obtaining the surface normal vector of the current trajectory point position according to the UV parameter coordinates, and obtaining the tangent vector of the intersection curve where the current trajectory point is located.

[0042] Based on the content of the above method embodiment, as an optional embodiment, the trajectory planning method for multiple surfaces provided in the embodiment of the present invention, wherein the posture of each trajectory point is obtained according to each trajectory point vector, and the trajectory planning for several spatial surfaces is completed, including: the normal vector and the tangent vector constitute the posture of the trajectory point, and the postures of all the trajectory points are sorted and stored in sequence to obtain the trajectory points for trajectory planning of several spatial surfaces.

[0043] Specifically, after obtaining the neatly arranged trajectory data, traverse it in turn and use the equal spacing or equal chord height error method to obtain the coordinates p of each discrete point, such as Figure 6 As shown. Secondly, the UV parameter value of the surface corresponding to the projection of the discrete point three-dimensional coordinates on the intersection curve segment is obtained, and the surface normal vector of the current point position is obtained through the surface UV parameter coordinates. And the tangent vector of the current curve point is used as the second vector of the target point posture to determine the posture of each trajectory point, and the trajectory points of multi-surface trajectory planning can be obtained by sorting and storing them in sequence, which solves the limitation problem of single model surface trajectory planning.

[0044] The trajectory planning method for multiple surfaces provided in the embodiment of the present invention adopts the cross-section method to obtain the intersection curves of several spatial surfaces, sorts the intercepted disordered intersection curves to obtain ordered intersection curves, obtains the trajectory point coordinates and the corresponding trajectory point vectors discretized in sequence for each ordered intersection curve, and obtains the posture of each trajectory point accordingly. This can reduce the tedious operation of external merging of surfaces, improve the efficiency and applicability of offline programming, and can arbitrarily generate paths without angle constraints, improve the disordered nature of the intersection curves, and simplify the process of obtaining the posture of trajectory points from discrete points.

[0045] The implementation basis of each embodiment of the present invention is to implement programmed processing through a device with a processor function. Therefore, in engineering practice, the technical solutions and functions of each embodiment of the present invention can be encapsulated into various modules. Based on this reality, on the basis of the above embodiments, an embodiment of the present invention provides a trajectory planning device for multiple surfaces, which is used to execute the trajectory planning method for multiple surfaces in the above method embodiment. Figure 2 The device includes: a first main module, which is used to use the section method to find the intersection curves of several space surfaces to obtain the trajectory path; a second main module, which is used to sort the intercepted disordered intersection curves to obtain ordered intersection curves; a third main module, which is used to obtain the trajectory point coordinates and corresponding trajectory point vectors discretized in sequence from each ordered intersection curve; a fourth main module, which is used to obtain the posture of each trajectory point according to each trajectory point vector, and complete the trajectory planning of several space surfaces.

[0046] The trajectory planning device for multiple curved surfaces provided by the embodiment of the present invention adopts Figure 2Several modules in the system use the section method to find the intersection curves of several space surfaces, sort the intercepted disordered intersection curves to get the ordered intersection curves, obtain the trajectory point coordinates and the corresponding trajectory point vectors discretized in sequence for each ordered intersection curve, and get the posture of each trajectory point accordingly, which can reduce the tedious operation of external merging of surfaces, improve the efficiency and applicability of offline programming, and can arbitrarily generate paths without angle constraints, improve the disordered nature of the intersection curve, and simplify the process of obtaining the posture of trajectory points from discrete points.

[0047] It should be noted that the device in the device embodiment provided by the present invention can be used to implement the method in the above method embodiment as well as the method in other method embodiments provided by the present invention. The only difference is that the corresponding functional modules are set, and the principle is basically the same as the principle of the above device embodiment provided by the present invention. As long as the technical personnel in the field refer to the specific technical solutions in other method embodiments on the basis of the above device embodiment, obtain the corresponding technical means and the technical solutions composed of these technical means by combining technical features, the device in the above device embodiment can be improved on the premise of ensuring the practicality of the technical solution, thereby obtaining the corresponding device class embodiment, which is used to implement the methods in other method class embodiments. For example:

[0048] Based on the content of the above-mentioned device embodiment, as an optional embodiment, the trajectory planning device for multiple surfaces provided in the embodiment of the present invention also includes: a first sub-module, used to implement the cross-section method to find the intersection curve of multiple spatial surfaces to obtain the trajectory path, including: using the minimum bounding box of the direction bounding box to represent the state of multiple surfaces, wherein the main direction or the trajectory path direction is the normal of the cutting plane, the bounding box boundary is the upper and lower limits of the cutting plane, and a plane with multiple intersecting spatial surfaces is generated at equal intervals, and the intersection curve where each cutting plane intersects with the spatial surface is obtained, and the obtained intersection curve and the corresponding spatial surface are stored in a temporary database.

[0049] Based on the content of the above-mentioned device embodiment, as an optional embodiment, the trajectory planning device for multiple surfaces provided in the embodiment of the present invention also includes: a second sub-module, which is used to implement the sorting of the intercepted disordered intersection curves to obtain ordered intersection curves, including: if the intercepted disordered intersection curves are continuous curves, the order of the intersection curves is determined by whether the first and last points coincide with each other. In addition to the first and last points of all the intersection curves, each intermediate endpoint has one and only one pair of curves with the same endpoint value. If the tail parameter point of the first curve cannot find the head parameter point of the second curve, the second curve is searched in reverse to unify the direction of the intersection curves.

[0050] Based on the content of the above device embodiment, as an optional embodiment, the trajectory planning device for multiple surfaces provided in the embodiment of the present invention further includes: a third submodule, which is used to implement the sorting of the intercepted disordered intersection curves to obtain ordered intersection curves, and further includes: if the intercepted disordered intersection curves are discrete curves, it includes:

[0051]

[0052] Among them, min is the minimum value, D 11 is the distance between the end point of the third intersection curve and the end point of the fourth intersection curve, D 12 is the distance between the end point of the third intersection curve and the end point of the fifth intersection curve, D 1n D is the distance between the end point of the third intersection curve and the end point of the n+3th intersection curve, pnt1 is the first minimum distance, D pnt2 is the second minimum distance, D 21 is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the fourth intersection curve, D 22 is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the fifth intersection curve, D 2n is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the n+3th intersection curve, pnt1 is the end point of the third intersection curve, and pnt2 is the endpoint corresponding to the first minimum distance; if D pnt1 The corresponding endpoint is pnt2,D pnt2 The corresponding endpoint is pnt1, and pnt2 is determined to be the starting point of the curve adjacent to the third intersection curve where pnt1 is located.

[0053] Based on the content of the above-mentioned device embodiment, as an optional embodiment, the trajectory planning device for multiple surfaces provided in the embodiment of the present invention also includes: a fourth sub-module, which is used to realize the acquisition of the coordinates of the trajectory points discretely obtained in sequence for each ordered intersection curve, including: after obtaining the ordered intersection curve trajectory, traversing them in sequence, and using equal spacing or equal chord height error method to obtain the coordinates of each discrete point of the ordered intersection curve trajectory.

[0054] Based on the content of the above-mentioned device embodiment, as an optional embodiment, the trajectory planning device for multiple surfaces provided in the embodiment of the present invention also includes: a fifth sub-module, which is used to implement the acquisition of the corresponding trajectory point vector, including: obtaining the UV parameters of the discrete trajectory point coordinates projected on the surface corresponding to the intersection curve, obtaining the surface normal vector of the current trajectory point position according to the UV parameter coordinates, and obtaining the tangent vector of the intersection curve where the current trajectory point is located.

[0055] Based on the content of the above-mentioned device embodiment, as an optional embodiment, the trajectory planning device for multiple surfaces provided in the embodiment of the present invention also includes: a sixth sub-module, which is used to implement the posture of each trajectory point according to each trajectory point vector, and complete the trajectory planning of several spatial surfaces, including: the normal vector and the tangent vector constitute the posture of the trajectory point, and the postures of all the trajectory points are sorted and stored in sequence to obtain trajectory points for trajectory planning of several spatial surfaces.

[0056] The method of the embodiment of the present invention is implemented by relying on electronic devices, so it is necessary to introduce the relevant electronic devices. Based on this purpose, the embodiment of the present invention provides an electronic device, such as Figure 3 As shown, the electronic device includes: at least one processor, a communication interface, at least one memory, and a communication bus, wherein at least one processor, the communication interface, and at least one memory communicate with each other through the communication bus. At least one processor can call the logic instructions in at least one memory to execute all or part of the steps of the method provided by the aforementioned various method embodiments.

[0057] In addition, the logic instructions in the at least one memory mentioned above can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each method embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0058] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0059] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0060] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. Based on this understanding, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and sometimes in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0061] In this patent, the terms "include", "comprises" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "includes..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A trajectory planning method for multiple surfaces, characterized in that: include: The cross-section method is used to find the intersection curve of several spatial surfaces to obtain the trajectory path; Sort the intercepted disordered intersection curves, and use the corresponding method to obtain the ordered intersection curves according to whether the intercepted disordered intersection curves are continuous curves or discrete curves: If the intercepted disordered intersection curve is a continuous curve, the order of the intersection curve is determined by whether the first and last points coincide. In addition to the first and last points of all the intersection curves, each intermediate endpoint has only one pair of curves with the same endpoint value. If the tail parameter point of the first curve cannot find the head parameter point of the second curve, the second curve is searched in reverse to make the intersection curves have the same direction. Obtain the coordinates of the trajectory points and the corresponding trajectory point vectors discretized in sequence for each ordered intersection curve; According to the vector of each trajectory point, the posture of each trajectory point is obtained, and the trajectory planning of several spatial surfaces is completed. If the intercepted disordered intersection curve is a discrete curve, it includes: Among them, min is the minimum value, D 11 D is the distance between the end point of the third intersection curve and the end point of the fourth intersection curve, 12 D is the distance between the end point of the third intersection curve and the end point of the fifth intersection curve, 1n D is the distance between the end point of the third intersection curve and the end point of the n+3th intersection curve, pnt1 is the first minimum distance, D pnt2 is the second minimum distance, D 21 is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the fourth intersection curve, D 22 is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the fifth intersection curve, D 2n is the distance between the endpoint corresponding to the first minimum distance and the endpoint of the n+3th intersection curve, pnt1 is the end point of the third intersection curve, and pnt2 is the endpoint corresponding to the first minimum distance; if D pnt1 The corresponding endpoint is pnt2,D pnt2 The corresponding endpoint is pnt1, and pnt2 is determined to be the starting point of the curve adjacent to the third intersection curve where pnt1 is located.

2. The trajectory planning method for multiple surfaces according to claim 1, characterized in that: The coordinates of the trajectory points discretely obtained in sequence from each ordered intersection curve are obtained, including: after obtaining the ordered intersection curve trajectory, traversing it in sequence, and using the equal spacing or equal chord height error method to obtain the coordinates of each discrete point on the ordered intersection curve trajectory.

3. The trajectory planning method for multiple curved surfaces according to claim 2, characterized in that: The method of obtaining the coordinates of the trajectory points and the corresponding trajectory point vectors discretely obtained in sequence from each ordered intersection curve includes: obtaining the UV parameters of the discrete trajectory point coordinates projected on the surface corresponding to the intersection curve, obtaining the surface normal vector of the current trajectory point position according to the UV parameter coordinates, and obtaining the tangent vector of the intersection curve where the current trajectory point is located.

4. The trajectory planning method for multiple surfaces according to claim 3, characterized in that: According to each trajectory point vector, the posture of each trajectory point is obtained to complete the trajectory planning of several spatial surfaces, including: the normal vector and the tangent vector constitute the posture of the trajectory point, the postures of all trajectory points are sorted and stored in sequence, and the trajectory points of the trajectory planning of several spatial surfaces are obtained.

5. A trajectory planning device for multiple surfaces, characterized in that: A trajectory planning method for multiple surfaces according to any one of claims 1 to 4 is implemented, comprising: a first main module for finding intersection curves for a number of spatial surfaces using a cross-section method to obtain trajectory paths; a second main module for sorting the intercepted disordered intersection curves to obtain ordered intersection curves; a third main module for obtaining the coordinates of the trajectory points and the corresponding trajectory point vectors discretized in sequence for each ordered intersection curve; and a fourth main module for obtaining the posture of each trajectory point based on each trajectory point vector to complete trajectory planning for a number of spatial surfaces.

6. An electronic device, characterized in that: include: At least one processor, at least one memory and a communication interface; wherein, The processor, memory and communication interface communicate with each other; The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the method according to any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores computer instructions, which cause the computer to execute the method of any one of claims 1 to 4.

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