Pipe cutting speed planning method, electronic device, and storage medium

Abstract

The application discloses a pipe cutting speed planning method, an electronic device and a storage medium, and comprises the following steps: acquiring discrete points on a cutting path in a three-axis coordinate system of a cutting track discrete model, and forming micro line segments by the discrete points, wherein the included angle between vectors of the micro line segments is; setting the position of a local deceleration point by judging the change of the angle, and dividing the number of look-ahead segments adaptively according to the position of the local deceleration point and the change of the included angle of the line segment vectors. The look-ahead segment division method in the pipe cutting speed planning method can not only consider acceleration and deceleration, but also consider the bow height error, so that the machining efficiency can be improved, and the machining precision can be ensured.

Description

Technical Field

[0001] This invention belongs to the field of pipe cutting technology, specifically relating to a speed planning method for pipe cutting, electronic equipment, and storage medium. Background Technology

[0002] Speed ​​planning is a crucial step in the tube cutting process of laser cutting machines. For closed cutting trajectories on different tube materials, CAM software first discretizes the closed contour curve into a continuous micro-segment cutting trajectory composed of a large number of point clouds. If each micro-segment cutting trajectory is treated as an independent processing unit, with the speed at the beginning and end of each segment being zero, it will inevitably require starting and stopping during each segment's cutting process, causing machine tool vibration, resulting in low processing efficiency and reduced tube cutting quality. In severe cases, it can cause over-melting and melting of sharp corners. Therefore, research on continuous micro-segment look-ahead speed planning methods has significant practical implications.

[0003] Traditional speed planning involves single-segment acceleration and deceleration for continuous micro-segments. While this method ensures that the speed at the end of each segment is not zero, frequent acceleration and deceleration result in low processing efficiency and poor processing quality. Current look-ahead methods do not consider the impact of bow height error on processing accuracy, leading to suboptimal cutting results. Summary of the Invention

[0004] One objective of this application is to provide a new technology for speed planning in pipe cutting, which is an adaptive look-ahead segment division acceleration and deceleration control method. The method starts from the local corner difference of continuous micro-segments, compares it with the set discrete accuracy, and adaptively adjusts the look-ahead segment number, thereby improving the cutting efficiency of pipe while ensuring processing accuracy.

[0005] In a first aspect, the present invention provides a method for speed planning in pipe cutting, characterized by comprising the following steps:

[0006] In the three-axis coordinate system of the model with discrete cutting trajectory, obtain discrete points on the cutting path. , , Through the discrete points , , Composition of micro-segments , The micro-segment , The angle between the vectors is ,

[0007] ;

[0008] By discrimination The change in angle sets discrete precision to identify the location of local deceleration points, and based on the location of the local deceleration points and the... The angle changes are used to adaptively divide the look-ahead segment.

[0009] The method according to the embodiments of the present invention takes into account both the machining accuracy and the influence of the local included angle on the number of forward-looking segments, thereby improving the cutting efficiency while ensuring machining accuracy.

[0010] According to one embodiment of the present invention, by means of the... The angle variation is used to set the discrete precision for adaptive look-ahead segment division, and at least one segment after division is treated as a planning unit.

[0011] According to one embodiment of the present invention, by means of the... The steps for setting the discrete precision based on the change in angle include:

[0012] According to the above The angle is varied, and the discretization precision is set to obtain the resulting line segments. (Omit the three middle dots) , , ;

[0013] The laser head directly cuts from... arrive Guarantee Point , , to line segment distance , , All are less than the set maximum bow height error;

[0014] if , , If any value exceeds the set maximum bow height error, the discretization precision is reduced, and adaptive division is performed again until the bow height error of each point is less than the set maximum bow height error.

[0015] According to one embodiment of the present invention, in a three-dimensional coordinate system, to line segment The distance formula is:

[0016] ;

[0017] in, , , Their coordinates in space are respectively , , .

[0018] According to one embodiment of the present invention, when dividing the look-ahead segment, the line segment is... , , , , The included angles between them are defined as follows: , , , Through the , , , The difference between the values ​​is compared with the discrete precision to find the dividing point for the look-ahead segment division.

[0019] According to an embodiment of the present invention, the method for dividing the look-ahead segment number of the cutting path includes: when >Discrete precision

[0020] If point to line segment If the distance is less than or equal to the bow height error, then the point will be... As a line segment Local deceleration points, line segments Divided into a planning unit,

[0021] If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segment division point in the middle, which divides the line segment line segments Each is divided into a planning unit.

[0022] According to an embodiment of the present invention, the method for dividing the look-ahead segment number of the cutting path includes: when Discrete precision and >Discrete precision

[0023] If point and points to line segment If the distances are all less than or equal to the bow height error, then... A point as a line segment Local deceleration points, line segments It was divided into a planning unit;

[0024] If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segment division point, if point to line segment If the distance is less than or equal to the bow height error, then the line segment It is divided into a planning unit; if the point to line segment The distance is greater than the bow height error, so the line segment Treat it as a separate planning unit; if the point to line segment The distance is less than or equal to the bow height error, point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point.

[0025] According to an embodiment of the present invention, the method for dividing the look-ahead segment number of the cutting path includes: when Discrete precision Discrete precision and >Discrete precision

[0026] If point ,point and points to line segment If the distances are all less than or equal to the bow height error, then the point will be... As a line segment Local deceleration points, line segments It was divided into a planning unit;

[0027] If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point; if the point to line segment If the distance is greater than the bow height error, then the comparison point is... to line segment The relationship between the distance and the bow height error, if point to line segment If the distance is less than or equal to the bow height error, then the line segment It is divided into a planning unit; if the point to line segment The distance is greater than the bow height error, Treat it as a planning unit; if the point to line segment The distance is less than or equal to the bow height error, point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point; if the point to line segment The distance is less than or equal to the bow height error, point to line segment The distance is less than or equal to the bow height error, point to line segment The distance is greater than the bow height error, point Not as a line segment segment number dividing point.

[0028] A second aspect of the present invention also provides an electronic device, comprising: a processor and a memory, wherein computer program instructions are stored in the memory, wherein when the computer program instructions are executed by the processor, the processor causes the processor to perform the method described in any of the above embodiments.

[0029] A third aspect of the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the method described in any of the above embodiments.

[0030] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0032] Figure 1 This is a schematic diagram of the discrete points of the discrete model of the cutting trajectory in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of adaptive look-ahead segment division according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram illustrating the division of the look-ahead segment number according to an embodiment of the present invention;

[0035] Figure 4 This is a flowchart of a pipe cutting speed planning method according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the working principle of the electronic device according to an embodiment of the present invention;

[0037] Figure 6This is a schematic diagram of Experiment 1, in which an ellipse is cut on a circular tube and the ellipse is discretized using CAM software to generate a continuous micro-segment composed of point clouds.

[0038] Figure 7(a) is a schematic diagram of the simulation results of the velocity curve obtained by interpolating the ellipse in Experiment 1 of the present invention without adaptive look-ahead segment division.

[0039] Figure 7(b) is a schematic diagram of the simulation results of the acceleration curve obtained by interpolating the ellipse in Experiment 1 of the present invention without adaptive look-ahead segment division.

[0040] Figure 7(c) is a schematic diagram of the simulation results of the acceleration curve obtained by interpolating the ellipse in Experiment 1 of the present invention without adaptive look-ahead segment division.

[0041] Figure 8 This is a comparison image of the point cloud obtained after adaptive look-ahead segment division and the point cloud obtained before division in Experiment 1 of this invention.

[0042] Figure 9(a) is a schematic diagram of the velocity curve after adaptive look-ahead segment division in Experiment 1 of the present invention;

[0043] Figure 9(b) is a schematic diagram of the acceleration curve after adaptive look-ahead segment division in Experiment 1 of the present invention;

[0044] Figure 9(c) is a schematic diagram of the acceleration curve after adaptive look-ahead segment division in Experiment 1 of the present invention.

[0045] Figure 10 This is a schematic diagram of Experiment 2 of the present invention, in which a pentagram is cut on a square tube and the pentagram is discretized into a continuous micro-segment composed of point clouds using CAM software.

[0046] Figure 11(a) is a schematic diagram of the velocity curve obtained by interpolating a pentagram in Experiment 2 of the present invention without adaptive look-ahead segment division.

[0047] Figure 11(b) is a schematic diagram of the acceleration curve obtained by interpolating a pentagram in Experiment 2 of the present invention without adaptive look-ahead segment division.

[0048] Figure 11(c) is a schematic diagram of the acceleration curve obtained by interpolating a pentagram in Experiment 2 of the present invention without adaptive look-ahead segment division.

[0049] Figure 12 This is a schematic diagram comparing the point cloud obtained after adaptive look-ahead segmentation in Experiment 2 with the point cloud obtained before segmentation.

[0050] Figure 13(a) is a schematic diagram of the velocity curve after adaptive look-ahead segment division in Experiment 2 of the present invention;

[0051] Figure 13(b) is a schematic diagram of the acceleration curve after adaptive look-ahead segment division in Experiment 2 of the present invention;

[0052] Figure 13(c) is a schematic diagram of the acceleration curve after adaptive look-ahead segment division in Experiment 2 of the present invention.

[0053] Figure label:

[0054] 100 electronic devices;

[0055] Memory 110; Operating system 111; Application program 112;

[0056] Processor 120; Network interface 130; Input device 140; Hard disk 150; Display device 160. Detailed Implementation

[0057] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0058] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0059] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0060] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0062] The speed planning method for pipe cutting according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0063] like Figures 1 to 4 As shown, the pipe cutting speed planning method according to an embodiment of this application includes the following steps:

[0064] In the three-axis coordinate system of the model with discrete cutting trajectory, obtain discrete points on the cutting path. , , Through discrete points , , Composition of micro-segments , micro-segments , The angle between the vectors is ,

[0065] ;

[0066] By discrimination The change in angle sets the discrete precision to identify the location of local deceleration points, and the adaptive look-ahead segment division is performed based on the location of the local deceleration points and the change in the angle between the line segment vectors.

[0067] In other words, such as Figure 1 As shown, the discrete points are illustrated in the three-axis coordinate system of the model with discrete cutting trajectories. , , Composed of micro-segments , The angle between line segment vectors is represented by... express.

[0068] at this time, Angle is: ;

[0069] It can be seen that the angle between the velocity and vector at the transition point between line segments is... They are inversely proportional, that is, if If the angle is too large, the speed passing through that point will decrease. Conversely, if... If the angle is too small, the velocity through that point will increase. Therefore, by determining... The process of angle change is given a discrete precision to identify the location of local deceleration points and to perform adaptive look-ahead segment division.

[0070] It should be noted that the impact of bow height error on machining accuracy must be considered during the division process. The method of this application can be used in a platform laser cutting machine, which can be a four-axis (X, Y, Z, B) tube cutting machine tool, mainly for cutting common tube shapes such as round tubes, square tubes, waist-shaped tubes, and elliptical tubes.

[0071] The motion mechanisms of the platform laser cutting machine are composed as follows:

[0072] (1) Rotating mechanism

[0073] The B-axis is used to rotate the tube. A chuck can be mounted on the B-axis to hold the tube. The servo motor corresponding to the B-axis rotates, and the rotational motion is achieved through a reducer and a single-stage synchronous gear belt drive to achieve the radial rotation of the tube. The rotational accuracy is ensured by the servo motor corresponding to the B-axis.

[0074] (2) Translation mechanism

[0075] The X-axis is used to realize the translational movement of the laser head, which is mounted on the lead screw and nut assembly of the feed mechanism. The translational movement of the laser head is achieved by a servo motor corresponding to the X-axis driving the lead screw through a reducer. The translational accuracy is ensured by the servo motor corresponding to the X-axis. The translation mechanism also includes a Y-axis for feeding the pipe. The Y-axis servo motor drives the lead screw through a reducer to achieve the feeding movement of the pipe. The feeding accuracy is ensured by the Y-axis servo motor.

[0076] (3) Following institutions

[0077] The Z-axis is used to achieve the following motion of the laser head. The laser head is mounted on the lead screw and nut pair of the following mechanism. The servo motor corresponding to the Z-axis drives the lead screw to rotate through the reducer to achieve the following motion of the laser head. The following height is set by the height adjuster, and the following accuracy is ensured by the servo motor corresponding to the Z-axis.

[0078] Furthermore, the machining trajectory on the tube is composed of numerous micro-segments connected by discrete points. If the angle between the segments is small, some intermediate points can be ignored by sacrificing a small amount of machining accuracy, thus increasing the length of the micro-segments. This allows for a smooth transition when the laser cutting passes through these turning points, without causing machine tool vibration or oscillation. If the angle between the segments is large, look-ahead machining is not possible to ensure machining accuracy; the only solution is to reduce the speed at that point.

[0079] According to one embodiment of this application, by... The angle variation is used to set the discrete precision for adaptive look-ahead segment division, and at least one segment after division is treated as a planning unit.

[0080] According to one embodiment of this application, by... The steps for setting the discrete precision based on the change in angle include:

[0081] according to The angle is varied, and the discretization precision is set to obtain the resulting line segments. (Omit the three middle dots) , , ;

[0082] The laser head directly cuts from... arrive Guarantee Point , , to line segment distance , , All are less than the set maximum bow height error;

[0083] if , , If any value exceeds the set maximum bow height error, the discretization precision is reduced, and adaptive division is performed again until the bow height error of each point is less than the set maximum bow height error.

[0084] In other words, such as Figure 2 As shown, by judging the change in the angle between line segment vectors, the segmented line segments are obtained by dividing the line segments with a given discrete precision. The three middle dots were omitted. , , The laser head directly cuts through the laser during the cutting process. arrive However, at this point, it is necessary to ensure that the point is... , , to line segment distance , , All are less than the set maximum bow height error, thus ensuring the cutting accuracy of the pipe. If , , If any value exceeds the set maximum bow height error, the discretization precision needs to be reduced and the adaptive division needs to be performed again until the bow height error of each point is less than the set maximum bow height error.

[0085] According to one embodiment of this application, in a three-dimensional coordinate system, to line segment The distance formula is:

[0086] ;

[0087] in, , , Their coordinates in space are respectively , , .

[0088] In other words, the formula for the distance from a point in space to a line is... , , Taking three points as an example, let's assume... , , Their coordinates in space are respectively , , ,so to line segment The distance is:

[0089] .

[0090] In some specific embodiments of this application, when dividing the look-ahead segment, the line segment is... , , , , The included angles between them are defined as follows: , , , Through the , , , The difference between the values ​​is compared with the discrete precision to find the dividing point for the look-ahead segment division.

[0091] In other words, the number of segments is adaptively divided by judging the change in the angle between line segment vectors, and the divided segments are treated as a planning unit. For example... Figure 3 The image shown is a portion of the cutting path, assuming a line segment. , , , , The included angles between them are respectively , , , Through the , , , The difference between the values ​​is compared with the discrete precision to find the dividing point for the look-ahead segment division.

[0092] According to one embodiment of this application, the method for dividing the look-ahead segment number of the cutting path includes: when >Discrete precision

[0093] If point to line segment If the distance is less than or equal to the bow height error, then the point will be... As a line segment Local deceleration points, line segments Divided into a planning unit,

[0094] If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segment division point in the middle, which divides the line segment line segments Each is divided into a planning unit.

[0095] According to one embodiment of this application, the method for dividing the look-ahead segment number of the cutting path includes: when Discrete precision and >Discrete precision

[0096] If point and points to line segment If the distances are all less than or equal to the bow height error, then... A point as a line segment Local deceleration points, line segments It was divided into a planning unit;

[0097] If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segment division point, if point to line segment If the distance is less than or equal to the bow height error, then the line segment It is divided into a planning unit; if the point to line segment The distance is greater than the bow height error, so the line segment Treat it as a separate planning unit; if the point to line segment The distance is less than or equal to the bow height error, point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point.

[0098] According to one embodiment of this application, the method for dividing the look-ahead segment number of the cutting path includes: when Discrete precision Discrete precision and >Discrete precision

[0099] If point ,point and points to line segment If the distances are all less than or equal to the bow height error, then the point will be... As a line segment Local deceleration points, line segments It was divided into a planning unit;

[0100] If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point; if the point to line segment If the distance is greater than the bow height error, then the comparison point is... to line segment The relationship between the distance and the bow height error, if point to line segment If the distance is less than or equal to the bow height error, then the line segment It is divided into a planning unit; if the point to line segment The distance is greater than the bow height error, Treat it as a planning unit; if the point to line segment The distance is less than or equal to the bow height error, point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point; if the point to line segment The distance is less than or equal to the bow height error, point to line segment The distance is less than or equal to the bow height error, point to line segment The distance is greater than the bow height error, point Not as a line segment segment number dividing point.

[0101] In other words, let the discrete precision be denoted as Discreteprecision and the chord error be denoted as Chorderror, then Figure 3 The principle for dividing the lookahead segment number of the middle part of the cutting path is as follows:

[0102] (1) When >Discreteprecision;

[0103] That is, the point of passage The speed is greater than the point of passage The speed required necessitates the use of linear segments during pipe cutting. During deceleration, point It can be treated as a line segment The local deceleration point in the middle, but at this point it is also necessary to compare the points. to line segment The relationship between the distance and the magnitude of the chord error. If point to line segment If the distance is less than or equal to the chord error, then the point will be... As a line segment Local deceleration points, line segments This can then be divided into a planning unit. If the point to line segment The distance is greater than the chord error, then the point It cannot be used as a line segment. At the segment dividing point, only the line segment can be divided. line segments Each is divided into a planning unit.

[0104] (2) When Discreteprecision >Discreteprecision;

[0105] That is, the point of passage The speed is less than the point of passage The speed, passing through the point The speed is greater than the point of passage The speed required necessitates the use of linear segments during pipe cutting. During deceleration, point It can be treated as a line segment The local deceleration point in the data, but at this point it is still necessary to compare the points separately. and points to line segment The relationship between the distance and the magnitude of the chord error. If point and points to line segment If the distances are all less than or equal to the chord error, then... A point as a line segment Local deceleration points, line segments This can be divided into a planning unit. If the point... to line segment The distance is greater than the chord error, then the point It cannot be used as a line segment The segmentation point is where comparison points are needed. to line segment The relationship between the distance and the magnitude of the chord error. If point to line segment If the distance is less than or equal to the chord error, then the line segment... This can then be divided into a planning unit. If the point to line segment If the distance is greater than the chord error, then only the line segment can be... Treat it as a separate planning unit. If the point to line segment The distance is less than or equal to the chord error, but the point to line segment If the distance is greater than the chord error, then the same point It cannot be used as a line segment The segmentation points need to be discussed in sequence according to the first scenario.

[0106] (3) When Discreteprecision Discreteprecision

[0107] >Discreteprecision;

[0108] That is, the point of passage The speed is less than the point of passage The speed, passing through the point Speed ​​less than the point of passage Speed, passing point Speed ​​greater than the point of passage Speed ​​necessitates the use of linear segments during pipe cutting. During deceleration, then point It was treated as a line segment The local deceleration point in the data, but at this point it is still necessary to compare the points separately. ,point and points to line segment The relationship between the distance and the magnitude of the chord error. If point ,point and points to line segment If the distances are all less than or equal to the chord error, then the point can be... As a line segment Local deceleration points, line segments This can be divided into a planning unit. If the point... to line segment The distance is greater than the chord error, then the point It cannot be used as a line segment. The segmentation point, at this point we need to compare points. to line segment The relationship between the distance and the magnitude of the chord error. If point to line segment The distance is greater than the chord error, so further comparisons are needed. to line segment The relationship between the distance and the magnitude of the chord error. If point to line segment If the distance is less than or equal to the chord error, then the line segment... This can then be divided into a planning unit. If the point to line segment If the distance is greater than the chord error, then only... Treat it as a planning unit. If the point to line segment The distance is less than or equal to the chord error, point to line segment If the distance is greater than the chord error, then the same point It cannot be used as a line segment. The segmentation points need to be discussed sequentially according to the cases listed in the second scenario. If the point to line segment The distance is less than or equal to the chord error, point to line segment The distance is less than or equal to the chord error, but the point to line segment The distance is greater than the chord error, at which point the same point... It cannot be used as a line segment. The segmentation points also need to be discussed in turn according to the second scenario.

[0109] To verify the feasibility of the S-shaped velocity curve method based on adaptive look-ahead segment number, this invention will simulate the cutting of an ellipse on a circular tube and a pentagram on a square tube using a laser cutting system, two representative patterns, to verify the effectiveness of the method. This embodiment only conducts simulation experiments on the graphics, and the relevant parameters used in the simulation experiments are shown in Figure 1-1.

[0110] Table 1-1 Simulation Experiment Parameter Settings

[0111]

[0112] Experiment 1: Cutting an ellipse on a circular tube

[0113] Cutting an ellipse on a circular tube involves using CAM software to discretize the ellipse and generate continuous tiny segments composed of point clouds, such as... Figure 6 As shown.

[0114] The simulation results of velocity curves, acceleration curves, and jerk curves obtained by interpolating the ellipse without adaptive look-ahead segment division are shown in Figures 7(a) to 7(c).

[0115] A comparison of the point cloud obtained after adaptive lookahead segmentation and the point cloud before segmentation is shown below. Figure 8 As shown, solid points are the points before division, and hollow points are the points after division. By performing interpolation simulation on the divided point cloud, the simulation results of velocity curve, acceleration curve, jerk curve and curve are shown in Figures 9(a) to 9(c).

[0116] Simulation results show that before the look-ahead segment division, the number of interpolated segments is 257, the interpolation time is 1.7761s, and the total interpolation length is 48.4056mm. After adaptive look-ahead segment division, the number of interpolated segments is 92, the interpolation time is 1.2147s, and the total interpolation length is 48.3955mm. Therefore, under the condition of meeting the error accuracy requirements, the efficiency is improved by 31.6%, verifying the feasibility of the method.

[0117] Experiment 2: Cutting a pentagram from a square tube

[0118] Cutting a pentagram from a square tube is also done using CAM software to discretize the pentagram and generate continuous tiny segments composed of point clouds, such as... Figure 10 As shown.

[0119] The simulation results of velocity curve, acceleration curve and jerk curve obtained by interpolating the pentagram without adaptive look-ahead segment division are shown in Figures 11(a) to 11(c).

[0120] A comparison of the point cloud obtained after adaptive lookahead segmentation and the point cloud before segmentation is shown below. Figure 12 As shown, solid points are the points before division, and hollow points are the points after division. By performing interpolation simulation on the divided point cloud, the simulation results of velocity curves, acceleration curves, and jerk curves are shown in Figures 13(a) to 13(c).

[0121] Simulation results show that before the look-ahead segment division, the number of interpolation segments is 256, the interpolation time is 4.5791s, and the total interpolation length is 90.1263mm. After adaptive look-ahead segment division, the number of interpolation segments is 10, the interpolation time is 2.4831s, and the total interpolation length is 90.1021mm. Therefore, under the condition of meeting the error accuracy requirements, the efficiency is improved by 45.7%, verifying the feasibility of the method.

[0122] In conclusion, according to such Figure 3 The discussion on the selection of look-ahead segment division points for the partial cutting path illustrates that, in order to improve pipe cutting efficiency while ensuring processing accuracy, the key points in adaptive look-ahead segment division are setting the discrete accuracy and limiting the bow height error. By treating the number of segments between every two division points as a planning unit, the number of look-ahead segments is determined. The advantage of this application is that it considers both processing accuracy and the influence of local angles on the number of look-ahead segments, thus improving cutting efficiency while ensuring processing accuracy.

[0123] In addition, embodiments of the present invention also provide a computer storage medium, which includes one or more computer instructions, which, when executed, implement the method of any of the above embodiments.

[0124] In other words, the computer storage medium stores a computer program, and when the computer program is run by the processor, it causes the processor to execute any of the methods mentioned above.

[0125] like Figure 5 As shown, an embodiment of the present invention provides an electronic device 100, including a memory 110 and a processor 120. The memory 110 is used to store one or more computer instructions, and the processor 120 is used to call and execute one or more computer instructions to implement any of the above methods.

[0126] In other words, the electronic device 100 includes a processor 120 and a memory 110, wherein computer program instructions are stored in the memory 110, and when the computer program instructions are executed by the processor, the processor 120 performs any of the methods described above.

[0127] Furthermore, such as Figure 5As shown, the electronic device 100 also includes a network interface 130, an input device 140, a hard disk 150, and a display device 160.

[0128] The various interfaces and devices described above can be interconnected via a bus architecture. The bus architecture can include any number of interconnecting buses and bridges. Specifically, various circuits representing one or more central processing units (CPUs) (represented by processor 120) and one or more memories (represented by memory 110) are connected together. The bus architecture can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. It is understood that the bus architecture is used to implement communication between these components. In addition to the data bus, the bus architecture also includes a power bus, a control bus, and a status signal bus, all of which are well known in the art and will not be described in detail herein.

[0129] The network interface 130 can connect to a network (such as the Internet, local area network, etc.), obtain relevant data from the network, and save it to the hard disk 150.

[0130] Input device 140 can receive various instructions input by the operator and send them to processor 120 for execution. Input device 140 may include a keyboard or clicking device (e.g., mouse, trackball, touchpad, or touchscreen).

[0131] Display device 160 can display the results obtained by the processor 120 executing instructions.

[0132] The memory 310 is used to store programs and data necessary for the operation of the operating system, as well as intermediate results and other data during the calculation process of the processor 120.

[0133] It is understood that the memory 110 in the embodiments of the present invention may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. The memory 110 of the apparatus and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0134] In some implementations, memory 110 stores elements such as executable modules or data structures, or subsets thereof, or extended sets thereof: operating system 111 and application programs 112.

[0135] The operating system 111 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 112 includes various applications, such as a browser, used to implement various application functions. The program implementing the method of this embodiment can be included in the application program 112.

[0136] When the processor 120 calls and executes the application program and data stored in the memory 110, specifically the program or instructions stored in the application program 112, it distributes one of the first set and the second set to the nodes where the other of the first set and the second set are distributed, wherein the other set is distributed and stored on at least two nodes; and performs intersection processing node by node according to the node distribution of the first set and the node distribution of the second set.

[0137] The methods disclosed in the above embodiments of the present invention can be applied to or implemented by the processor 120. The processor 120 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 120 or by instructions in the form of software. The processor 120 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention can be directly embodied in the execution of the hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 110, and the processor 120 reads the information in memory 110 and completes the steps of the above method in combination with its hardware.

[0138] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions of this application, or combinations thereof.

[0139] For software implementation, the techniques described herein can be achieved through modules (e.g., procedures, functions, etc.) that perform the functions described herein. The software code can be stored in memory and executed by a processor. The memory can be implemented within the processor or externally.

[0140] Specifically, the processor 120 is also used to read computer programs and execute any of the methods described above.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0142] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0143] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute certain steps of the transmission and reception methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for speed planning in pipe cutting, characterized in that, Includes the following steps: In the three-axis coordinate system of the model with discrete cutting trajectory, obtain discrete points on the cutting path. , , Through the discrete points , , Composition of micro-segments , The micro-segment , The angle between the vectors is , ； By discrimination The change in angle sets discrete precision to identify the location of local deceleration points, and based on the location of the local deceleration points and the... Adaptive look-ahead segment division based on changes in angle; When dividing the line segments into forward segments, the line segments are... , , , , The included angles between them are defined as follows: , , , Through the , , , The difference between them is compared with the discrete precision to find the dividing point of the prospect segment division. The prospect segment division is adaptively performed by judging the change of the angle between the line segment vectors, and the divided segment is regarded as a planning unit. Methods for dividing the lookahead segment count of a cutting path include: when >Discrete precision If point to line segment If the distance is less than or equal to the bow height error, then the point will be... As a line segment Local deceleration points, line segments Divided into a planning unit, If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segment division point in the middle, which divides the line segment line segments Each is divided into a planning unit; when Discrete precision and >Discrete precision If point and points to line segment If the distances are all less than or equal to the bow height error, then... A point as a line segment Local deceleration points, line segments It was divided into a planning unit; If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segment division point, if point to line segment If the distance is less than or equal to the bow height error, then the line segment It is divided into a planning unit; if the point to line segment The distance is greater than the bow height error, so the line segment Treat it as a separate planning unit; if the point to line segment The distance is less than or equal to the bow height error, point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point; when Discrete precision Discrete precision and >Discrete precision If point ,point and points to line segment If the distances are all less than or equal to the bow height error, then the point will be... As a line segment Local deceleration points, line segments It was divided into a planning unit; If point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point; if the point to line segment If the distance is greater than the bow height error, then the comparison point is... to line segment The relationship between the distance and the bow height error, if point to line segment If the distance is less than or equal to the bow height error, then the line segment It is divided into a planning unit; if the point to line segment The distance is greater than the bow height error, Treat it as a planning unit; if the point to line segment The distance is less than or equal to the bow height error, point to line segment If the distance is greater than the bow height error, then the point Not as a line segment The segmentation point; if the point to line segment The distance is less than or equal to the bow height error, point to line segment The distance is less than or equal to the bow height error, point to line segment The distance is greater than the bow height error, point Not as a line segment segment number dividing point.

2. The method according to claim 1, characterized in that, By according to the The steps for setting the discrete precision based on the change in angle include: According to the above The angle is varied, and the discretization precision is set to obtain the resulting line segments. (Omit the three middle dots) , , ; The laser head directly cuts from... arrive Guarantee Point , , to line segment distance , , All are less than the set maximum bow height error; if , , If any value exceeds the set maximum bow height error, the discretization precision is reduced, and adaptive division is performed again until the bow height error of each point is less than the set maximum bow height error.

3. The method according to claim 2, characterized in that, In a three-dimensional coordinate system, to line segment The distance formula is: ； in, , , Their coordinates in space are respectively , , .

4. An electronic device, characterized in that, include: A processor and a memory, wherein computer program instructions are stored in the memory, wherein when the computer program instructions are executed by the processor, the processor causes the processor to perform the method of any one of claims 1-3.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to perform the method of any one of claims 1-3.

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