Precision-controllable curvature-continuous corner fitting method and system for laser cutting

Abstract

The present invention relates to the field of automation control technology, and discloses a precision-controlled curvature-continuous corner fitting method and system for laser cutting, wherein the fitting method first reads the trajectory data of the laser cutting and pre-processes the trajectory data; determines the trajectory type of the laser cutting according to the trajectory data; uses a horn curve to fit the corners under a set maximum contour error according to the determined trajectory type to obtain fitting trajectory data; determines the corner connection speed during laser cutting according to the fitted horn curve; and writes the fitting trajectory data and the corner connection speed into an interpolator for interpolation. The present invention uses a horn curve for corner fitting, which ensures that the machine tool can move smoothly and smoothly under high acceleration, improves the cutting accuracy in laser cutting, and also improves the cutting efficiency and cutting quality of laser cutting.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and more specifically, to a method and system for corner fitting with controllable precision and continuous curvature for laser cutting. Background Art

[0002] In the field of laser cutting, the corners where a straight line is tangent to a circular arc, because the curvature does not change continuously, can easily cause strong vibrations in the machine tool when the machine tool is overloaded or sensitive to speed changes, greatly affecting the cutting accuracy and smoothness of the movement.

[0003] At present, the NURBS curve fitting method is usually used in corner cutting. Although this fitting method can make the corner of the straight line tangent to the arc achieve the effect of continuous curvature change, the calculation of the arc length of the curve involves very complex high-order calculations, which will occupy a lot of memory resources and cause the real-time performance of the system to deteriorate. Under such conditions, in order to further improve the efficiency and accuracy of machine tool processing, it is very necessary to develop a new method to solve this problem. Summary of the invention

[0004] The purpose of the present invention is to provide a corner fitting method and system with controllable precision and continuous curvature for laser cutting in order to improve the cutting efficiency and cutting quality of laser cutting.

[0005] In order to solve the above problems, the technical solution adopted by the present invention is:

[0006] In a first aspect, the present invention provides a method for fitting corners with controllable precision and continuous curvature for laser cutting, the fitting method comprising:

[0007] Read the trajectory data of laser cutting and pre-process the trajectory data;

[0008] Determining the trajectory type of laser cutting according to the trajectory data;

[0009] According to the determined trajectory type, under the set maximum contour error, the horn curve is used to perform corner fitting to obtain fitting trajectory data;

[0010] According to the fitted horn curve, the corner connection speed during laser cutting is determined;

[0011] The fitting trajectory data and the corner connection speed are written into the interpolator for interpolation.

[0012] Furthermore, the specific method for determining the trajectory type is:

[0013] The straight line segment of the trajectory is recorded as The arc segment is recorded as The connection point is recorded as P1, and the arc length of the connection point is taken as the point P at the set value m , click P m The vector product of the line with the connecting point P1 is:

[0014]

[0015] Among them, if β≈π, it means that the trajectory type is a straight line tangent to a circular arc.

[0016] Furthermore, the process of using the horn curve to perform corner fitting includes:

[0017] Calculate the horn curve according to the set maximum contour error err Starting point C s and end point C e ;

[0018] Determine the Claw Curve The starting direction angle φ s and the end point direction angle φ e ;

[0019] According to the determined starting point C of the horn curve s 、End point C e 、Starting point direction angle φ s and the end point direction angle φ e , construct a horn curve;

[0020] According to the constructed Yangjiao curve, calculate the arc length L of the Yangjiao curve c , starting curvature k, curvature differential k' and minimum curvature radius R min ;

[0021] The interpolation position is calculated based on the starting point curvature k and the curvature differential k'.

[0022] Furthermore, the horn curve End point C e (X Ce ,Y Ce )for:

[0023]

[0024] in, and (X O , Y O ) are straight lines The coordinates of point C1 on the extension line and the center point O, R is the arc The radius of

[0025] The Claw Curve Starting point for:

[0026]

[0027] in, For point P t The coordinates of θ are the horn curves. End C e The tangent angle, L m is the length of the smooth straight line, i.e. L m =err / S(θ)*(C(θ)*cos(θ)+S(θ)*sin(θ)), S(θ) and C(θ) are the cosine Fresnel integral and sine Fresnel integral of the horn curve at θ respectively.

[0028] Further, according to the horn curve Starting point C s and end point C e , determine the starting point C s Is it in a straight line? Up, end point C e Is it in arc Specifically, it includes:

[0029] Calculate arc From the starting point P1 to the end point C e The length of the arc if Greater than Arc length Then it means the end point C e Not in the original arc On the trajectory, the end point coordinate P2 is used as the new end point C of the horn curve e , and re-correct the maximum contour error If less than, then the end point C e constant;

[0030] Calculate the straight lines separately The starting point P0 and the end point P1 to the starting point C s The length of the line segment if Then it means starting point C s Not on the original straight line On track, The starting point coordinate P0 is used as the starting point C of the new Yangjiao curve s ; If less than, then the starting point C s constant.

[0031] Further, according to the starting point of the horn curve and end point Get the arc length L of the horn curve c for:

[0032]

[0033] Among them, h(A) is the Fresnel cosine momentum, and A is the constant parameter of the horn curve;

[0034] According to the arc length L of the horn curve c , the starting curvature k is obtained as: Where Δ is the starting point direction angle φ s and the end point direction angle φ e The change between e -φ s ;

[0035] According to the constant parameter A of the horn curve and the arc length L of the horn curve c The relationship between the first-order curvature differential k' is calculated as:

[0036] Further, according to the curvature radius of the starting point of the horn curve and the end point radius of curvature Determine the minimum radius of curvature R min =min(R s ,R e );

[0037] According to the starting point curvature k and curvature differential k', the interpolation position is obtained. for:

[0038]

[0039] in, is the interpolation position coordinate of the previous cycle, ΔL i is the feed length required for each system cycle, and t is the number of cycles.

[0040] In a second aspect, the present invention further provides a corner fitting system with controllable precision and continuous curvature for laser cutting, the system comprising:

[0041] Trajectory data preprocessing module: used to read the trajectory data of laser cutting and preprocess the trajectory data, that is, to organize and transmit the trajectory data.

[0042] Trajectory type determination module: used to determine the trajectory type of laser cutting according to the trajectory data.

[0043] Corner fitting module: used to perform corner fitting using the horn curve under the set maximum contour error according to the determined trajectory type to obtain fitting trajectory data.

[0044] Connection speed determination module: used to determine the corner connection speed during laser cutting according to the fitted corner curve.

[0045] Trajectory data interpolation module: used for writing the fitting trajectory data and corner connection speed into the interpolator for interpolation.

[0046] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method provided in the first aspect when executing the program.

[0047] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the first aspect.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] The precision-controlled curvature continuous corner fitting method and system for laser cutting provided in the embodiments of the present invention use a ram's horn curve to perform corner fitting to obtain fitting trajectory data, and write it into an interpolator for interpolation motion, thereby ensuring that the machine tool can move smoothly and smoothly under high acceleration, improving the cutting accuracy in laser cutting, and further improving the cutting efficiency and cutting quality of laser cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the scheme of the present invention, the following is a brief introduction to the drawings required for the description of the embodiments. 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 creative work. Among them:

[0051] Figure 1 The present invention is a flow chart of a corner fitting method with controllable precision and continuous curvature for laser cutting.

[0052] Figure 2 This is an example diagram of the trajectory fitting of the straight line (L) tangent to the arc (C) in the present invention.

[0053] Figure 3 This is a flow chart of the present invention using the horn curve to perform corner fitting.

[0054] Figure 4 This is a schematic diagram of the corner fitting system with controllable precision and continuous curvature for laser cutting of the present invention.

[0055] Figure 5 It is a schematic diagram of the physical structure of the electronic device of the present invention. DETAILED DESCRIPTION

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of the present invention; the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example, the directions or positions indicated by the terms "length", "width", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the drawings, which are only for the convenience of description and should not be understood as limitations on the present technical solution.

[0057] The terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions; the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In the specification and claims of the present invention and the above-mentioned drawings, when an element is referred to as being "fixed to" or "mounted on" or "disposed on" or "connected to" another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it may be directly or indirectly connected to the other element.

[0058] In addition, the reference to "embodiment" herein means that a particular feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0059] It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0060] See also Figure 1 As shown, the present invention provides a corner fitting method with controllable precision and continuous curvature for laser cutting, and the specific steps of the method include the following:

[0061] Step S1: reading the trajectory data of laser cutting and preprocessing the trajectory data, that is, organizing and transmitting the trajectory data.

[0062] Step S2: Determine the trajectory type of laser cutting according to the trajectory data. Specifically, analyze the data of two adjacent trajectory segments to determine whether the trajectory type is a straight line tangent to an arc or an arc tangent to a straight line.

[0063] Step S3: According to the determined trajectory type and under the set maximum contour error, a horn curve is used to perform corner fitting to obtain fitting trajectory data.

[0064] Step S4: Determine the corner connection speed during laser cutting according to the fitted horn curve.

[0065] Step S5: writing the fitting trajectory data and the corner connection speed into the interpolator for interpolation.

[0066] In an embodiment of the present invention, the trajectory data preprocessing and corner fitting process can complete the relevant calculations in the compiler in advance, and then determine the connection speed in the kernel's look-ahead module, and finally write the trajectory data into the interpolator, thereby reducing the kernel calculation time. During the data sorting process, the corner fitting can reasonably plan the specific trajectory to ensure the efficiency and stability of the subsequent laser cutting movement.

[0067] Figure 2 The figure shows the trajectory of the straight line tangent to the arc. After the corner fitting is performed, the corner trajectory is changed from the original straight line to and arc It becomes a smooth horn curve and straight line and composition.

[0068] In the embodiment of the present invention, in step S2, the specific method for determining the trajectory type is:

[0069] The straight line segment of the trajectory is recorded as The arc segment is recorded as The connection point is recorded as P1, and the arc length of the connection is taken as the set value (take 1mm) at point P m , click P m The vector product of the line with the connecting point P1 is:

[0070]

[0071] Among them, if β≈π, it means that the straight line segment is tangent to the arc segment, that is, the trajectory type is a straight line tangent to the arc.

[0072] In the embodiment of the present invention, the trajectory type is divided into a straight line tangent to an arc and an arc tangent to a straight line according to the different cutting orders of the trajectory. When the straight line tangent to an arc is laser cut, the straight line is cut first and then the arc is cut, while the arc tangent to a straight line is just the opposite. Therefore, before performing corner fitting, the trajectory type needs to be determined first, so as to facilitate parameter calculation according to the determined trajectory type, thereby realizing a reliable fitting process.

[0073] In the embodiment of the present invention, the corner fitting method with controllable accuracy and continuous curvature for a straight line tangent to an arc is also applicable to the case where an arc is tangent to a straight line. In the embodiment of the present invention, only the trajectory of a straight line tangent to an arc is taken as an example to analyze the corner fitting method.

[0074] In the embodiment of the present invention, since the horn curve is a high-level free curve whose curvature changes continuously with the arc length, its curvature changes smoothly without mutation points, not only can the smooth transition of the straight line tangent to the circular arc be achieved, but also the contour fitting error is controllable, the arc length calculation is simpler than B-spline or NURBS, and the feed fluctuation can be effectively suppressed to achieve real-time interpolation. Therefore, the present invention adopts the fitting method of the horn curve to fit the corner of the straight line tangent to the circular arc with continuous curvature and controllable accuracy, which is simple and reliable.

[0075] In the embodiment of the present invention, in step S3, refer to Figure 3 As shown in the figure, the process of using the horn curve for corner fitting is as follows: first, determine the insertion starting point C of the horn curve. s and end point C e , and starting point C s and end point C e Angle φ relative to the X axis in the XOY coordinate system s and φ e ; Then, the horn curve is constructed by determining the parameters, and the arc length L of the horn curve is calculated m , starting curvature k, first-order curvature differential k' and minimum curvature radius R min Finally, in the kernel interpolator, according to the calculated parameters, the interpolation position, i.e. the tool cutting position (X Pt ,Y Pt ); the specific process includes:

[0076] Step S31: Calculate the horn curve according to the set maximum contour error err Starting point C s and end point C e , where err is the empirical value set by the laser cutting system according to actual processing requirements. Specifically including:

[0077] Step S311: Calculate the horn curve End point C e , specifically:

[0078] Since the curvature of the horn curve on a straight line is 0 and the curvature on an arc is 1 / R, in order to accurately insert a smooth curve with a continuously changing curvature onto the arc when the arc and the straight line are tangent, it is necessary to determine the position coordinates of the inserted horn curve on the arc by setting the maximum contour error err. Find a point C1 on the extension line of the arc so that the length of |C1O| is the arc The sum of the radius R and the set maximum contour error err.

[0079] According to the ratio You can get The end point for:

[0080]

[0081] in, and (X O , Y O ) are the coordinates of point C1 and the center point O respectively.

[0082] Step S312: Calculate the horn curve Starting point C s , specifically:

[0083] According to the maximum curvature 1 / R of the horn curve, the tangent line C e P t With straight line C1P t The angle between t C e =θ, the angle and the length of the smooth straight line L m The geometric relationship between them is: L m = err / S(θ)*(C(θ)*cos(θ)+S(θ)*sin(θ)), calculate the length of the smooth line L m .

[0084] According to the ratio relationship C1P t / C1C s =err / L m *sin(θ), you can get the horn curve Starting point for:

[0085]

[0086] in, For point P t The cosine Fresnel integral S(θ) and sine Fresnel integral C(θ) of the horn curve at θ are:

[0087]

[0088] Step S313: In order to make the interpolated horn curve safe and effective, it is necessary to ensure that the starting point and end point of the horn curve fall on the trajectory of the original straight line tangent arc respectively. Therefore, the starting point and end point of the horn curve are safety checked, and the points that do not fall on the trajectory are reasonably corrected, that is, according to the obtained end point C of the horn curve e and starting point C s , determine the end point C e Is it in arc Up, starting point C s Is it in a straight line? Specifically, it includes:

[0089] Calculate arc The starting point P1 to the calculated end point C of the Yangjiao curve e The length of the arc if Greater than Arc length Then it means the calculated end point C of the horn curve e Not in the original arc On the trajectory, The end point coordinate P2 is used as the new end point C of the Yangjiao curve e , at the same time, re-correct the maximum contour error If it is less than, then the end point of the horn curve C e constant.

[0090] Calculate the straight lines separately The starting point P0 and the end point P1 are connected to the calculated starting point C of the Yangjiao curve s The length of the line segment if Then it means the starting point C of the calculated horn curve s Not on the original straight line On the trajectory, The starting point coordinate P0 is used as the starting point C of the new Yangjiao curve s ; If it is less than, then the starting point of the horn curve C s constant.

[0091] In this step S313, by determining the end point C e Is it in arc Up, starting point C s Is it in a straight line? In this way, the fitted corner curve can be prevented from exceeding the original trajectory length, thereby ensuring the reliability and accuracy of the corner fitting method.

[0092] Step S32: Determine the horn curve The starting direction angle φ s and the end point direction angle φ e .

[0093] In this step S32, the horn curve The starting direction angle of the straight line Direction angle from the start point to the end point, ram's horn curve The end direction angle of the straight line From point Pt to point C e The direction angle is:

[0094]

[0095] Step S33: Based on the determined starting point C of the horn curve s 、End point C e 、Starting point direction angle φ s and the end point direction angle φ e , construct a smooth horn curve.

[0096] Step S34: Calculate the arc length L of the horn curve according to the constructed horn curve c , starting curvature k, curvature differential k' and minimum curvature radius R min Related parameters include:

[0097] Step S341: According to the starting point and end point Calculate the arc length L of the horn curve c :

[0098]

[0099] The arc length L of the fitting c It can be used for real-time position interpolation in the core interpolator to ensure the accuracy of the cutting position. Where h(A) is the Fresnel cosine momentum, and its mathematical model is:

[0100]

[0101] Among them, A is the constant parameter of the horn curve, which reflects the speed of the curvature change of the horn curve:

[0102]

[0103] The parameters d1, d2, d3, d4, d5, and d6 mentioned above are Newton-Simpson iteration coefficients. In the embodiment of the present invention, the values ​​of the coefficients are as follows:

[0104]

[0105]

[0106] Step S342: Calculate the starting point curvature k, specifically including:

[0107] Calculate the starting point direction angle φ s and the end point direction angle φ e The change between e -φ s .

[0108] According to the change amount and the arc length L of the horn curve c The ratio of the starting curvature k is:

[0109] Step S343: According to the constant parameter A of the horn curve and the arc length L of the horn curve c The relationship between the first-order curvature differential k' is calculated as:

[0110]

[0111] Step S344: Determine the minimum curvature radius R min Since the horn curve is a curve with continuously changing curvature, we only need to compare the curvature radius of the starting point of the horn curve. and the end point radius of curvature You can select the minimum value R min =min(R s ,R e ), according to the minimum curvature radius R min The speed of the joints between the horn curve and the straight line and arc trajectory is calculated in the kernel preview, making the trajectory processing motion smooth and efficient.

[0112] Step S35: Based on the starting curvature k and curvature differential k' parameters, the feed length ΔL required for each system cycle can be calculated in the core interpolator. i =k+k'L c , get the interpolation position in real time for:

[0113]

[0114] in, is the interpolation position coordinate of the previous cycle, and t is the number of cycles.

[0115] In the embodiment of the present invention, according to the minimum curvature radius R min Determine the corner connection speed during laser cutting; write the fitting trajectory data and the corner connection speed into the interpolator according to the obtained interpolation position, so as to realize real-time interpolation motion.

[0116] The above-mentioned method for calculating the parameters of the horn curve is also applicable to the continuous fitting method for solving the corner curvature of the tangent line of the arc.

[0117] An embodiment of the present invention provides a method for fitting corners with controllable curvature and continuous corners for laser cutting, which uses a ram's horn curve for corner fitting. For a CNC system for laser cutting, this method for fitting corners with continuous curvature of a straight line tangent to a circular arc can further improve the speed of the cutting movement while ensuring continuous change of the corner curvature and cutting accuracy, and can also perform cutting smoothly and smoothly under a long fitting setting, thereby further improving the efficiency of laser cutting.

[0118] See also Figure 4As shown, an embodiment of the present invention further provides a corner fitting system for laser cutting with controllable precision and continuous curvature, the system comprising:

[0119] Trajectory data preprocessing module: used to read the trajectory data of laser cutting and preprocess the trajectory data, that is, to organize and transmit the trajectory data.

[0120] Trajectory type determination module: used to determine the trajectory type of laser cutting according to the trajectory data.

[0121] Corner fitting module: used to perform corner fitting using the horn curve under the set maximum contour error according to the determined trajectory type to obtain fitting trajectory data.

[0122] Connection speed determination module: used to determine the corner connection speed during laser cutting according to the fitted corner curve.

[0123] Trajectory data interpolation module: used for writing the fitting trajectory data and corner connection speed into the interpolator for interpolation.

[0124] Specifically, the system provided by the embodiment of the present invention is specifically used to execute the above method embodiment, and the embodiment of the present invention will not be repeated. The system provided by the embodiment of the present invention uses a horn curve for corner fitting. For the CNC system of laser cutting, under the condition of ensuring the continuous change of the corner curvature and the cutting accuracy, the speed of the cutting movement can be further improved, and the cutting can be performed smoothly and smoothly under the long fitting setting, which can also further improve the efficiency of laser cutting, thereby improving the accuracy and quality of laser cutting.

[0125] Figure 5 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention, such as Figure 5 As shown, the electronic device may include: a processor 301, a communication interface 302, a memory 303 and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304. The processor 301 may call a computer program stored in the memory 303 and executable on the processor 301 to execute the methods provided in the above embodiments, for example, including:

[0126] Read the trajectory data of laser cutting and pre-process the trajectory data;

[0127] Determining the trajectory type of laser cutting according to the trajectory data;

[0128] According to the determined trajectory type, under the set maximum contour error, the horn curve is used to perform corner fitting to obtain fitting trajectory data;

[0129] According to the fitted horn curve, the corner connection speed during laser cutting is determined;

[0130] The fitting trajectory data and the corner connection speed are written into the interpolator for interpolation.

[0131] In addition, the logic instructions in the above-mentioned memory 303 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 such an understanding, the technical solution of the embodiment of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable 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 embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0132] An embodiment of the present invention further provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method provided in each of the above embodiments is implemented, for example, including:

[0133] Read the trajectory data of laser cutting and pre-process the trajectory data;

[0134] Determining the trajectory type of laser cutting according to the trajectory data;

[0135] According to the determined trajectory type, under the set maximum contour error, the horn curve is used to perform corner fitting to obtain fitting trajectory data;

[0136] According to the fitted horn curve, the corner connection speed during laser cutting is determined;

[0137] The fitting trajectory data and the corner connection speed are written into the interpolator for interpolation.

[0138] 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.

[0139] 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, it 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.

[0140] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A method for corner fitting with controllable precision and continuous curvature for laser cutting, characterized in that: The fitting method includes: Read the trajectory data of laser cutting and pre-process the trajectory data; Determining the trajectory type of laser cutting according to the trajectory data; According to the determined trajectory type, under the set maximum contour error, the horn curve is used to perform corner fitting to obtain fitting trajectory data; According to the fitted horn curve, the corner connection speed during laser cutting is determined; Writing the fitting trajectory data and the corner connection speed into an interpolator for interpolation; The specific method for determining the trajectory type is: The straight line segment of the trajectory is recorded as The arc segment is recorded as The connection point is recorded as P1, and the arc length of the connection point is taken as the point P at the set value m , click P m The vector product of the line with the connecting point P1 is: Among them, if β≈π, it means that the trajectory type is a straight line tangent to a circular arc; The process of using the horn curve to perform corner fitting includes: Calculate the horn curve according to the set maximum contour error err Starting point C s and end point C e ; Determine the Claw Curve The starting direction angle φ s and the end point direction angle φ e ; According to the determined starting point C of the horn curve s , End point C e 、Starting point direction angle φ s and the end point direction angle φ e , construct a horn curve; According to the constructed Yangjiao curve, calculate the arc length L of the Yangjiao curve c , starting curvature k, curvature differential k' and minimum curvature radius R min ; The interpolation position is calculated based on the starting point curvature k and the curvature differential k'.

2. The method for corner fitting with controllable precision and continuous curvature for laser cutting according to claim 1, characterized in that: The Claw Curve The end point for: in, and (X O , Y O ) are straight lines The coordinates of point C1 on the extension line and the center point O, R is the arc The radius of The Claw Curve Starting point for: in, Point P t The coordinates of θ are the horn curves. End C e The tangent angle, L m is the length of the smooth straight line, i.e. L m =err / S(θ)*(C(θ)*cos(θ)+S(θ)*sin(θ)), S(θ) and C(θ) are the cosine Fresnel integral and sine Fresnel integral of the horn curve at θ respectively.

3. The method for corner fitting with controllable precision and continuous curvature for laser cutting according to claim 2, characterized in that: According to the horn curve Starting point C s and end point C e , determine the starting point C s Is it in a straight line? Up, end point C e Is it in arc Specifically, it includes: Calculate arc From the starting point P1 to the end point C e The length of the arc if Greater than Arc length Then it means the end point C e Not in the original arc On the trajectory, the end point coordinate P2 is used as the new end point C of the horn curve e , and re-correct the maximum contour error If less than, then the end point C e constant; Calculate the straight lines separately The starting point P0 and the end point P1 to the starting point C s The length of the line segment if Then it means starting point C s Not on the original straight line On track, The starting point coordinate P0 is used as the starting point C of the new Yangjiao curve s ; If less than, then the starting point C s constant.

4. The method for corner fitting with controllable precision and continuous curvature for laser cutting according to claim 2, characterized in that: According to the starting point of the horn curve and end point Get the arc length L of the horn curve c for: Among them, h(A) is the Fresnel cosine momentum, and A is the constant parameter of the horn curve; According to the arc length L of the horn curve c , the starting curvature k is obtained as: Where Δ is the starting point direction angle φ s and the end point direction angle φ e The change between e -φ s ; According to the constant parameter A of the horn curve and the arc length L of the horn curve c The relationship between the first-order curvature differential k' is calculated as:

5. The method for corner fitting with controllable precision and continuous curvature for laser cutting according to claim 4, characterized in that: According to the curvature radius of the starting point of the horn curve and the end point radius of curvature Determine the minimum radius of curvature R min =min(R s ,R e ); According to the starting point curvature k and curvature differential k', the interpolation position is obtained. for: in, is the interpolation position coordinate of the previous cycle, ΔL i is the feed length required for each system cycle, and t is the number of cycles.

6. A precision-controlled curvature-continuous corner fitting system for laser cutting, characterized in that: The system includes: Trajectory data preprocessing module: used to read the trajectory data of laser cutting and preprocess the trajectory data, that is, to organize and transmit the trajectory data; A trajectory type determination module: used to determine the trajectory type of laser cutting according to the trajectory data; Corner fitting module: used to perform corner fitting using the horn curve under the set maximum contour error according to the determined trajectory type to obtain fitting trajectory data; Connection speed determination module: used to determine the corner connection speed during laser cutting according to the fitted horn curve; Trajectory data interpolation module: used for writing the fitting trajectory data and corner connection speed into the interpolator for interpolation; The trajectory type determination module includes: Type determination unit: record the straight line segment of the trajectory as The arc segment is recorded as The connection point is recorded as P1, and the arc length of the connection point is taken as the point P at the set value m , click P m The vector product of the line with the connecting point P1 is: Among them, if β≈π, it means that the trajectory type is a straight line tangent to a circular arc; The corner fitting module comprises: Curve point calculation unit: calculate the horn curve according to the set maximum contour error err Starting point C s and end point C e ; Curve direction determination unit: Determine the horn curve The starting direction angle φ s and the end point direction angle φ e ; Yangjiao curve construction unit: according to the determined Yangjiao curve starting point C s , End point C e 、Starting point direction angle φ s and the end point direction angle φ e , construct a horn curve; Curve information calculation unit: Calculate the arc length L of the horn curve according to the constructed horn curve c , starting curvature k, curvature differential k' and minimum curvature radius R min ; Interpolation position calculation unit: calculates the interpolation position according to the starting point curvature k and the curvature differential k'.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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