Trajectory generation method and related equipment based on drawing data and image recognition

Abstract

The present application discloses a trajectory generation method, system, device and storage medium based on drawing data and image recognition. The trajectory generation method based on drawing data and image recognition includes: obtaining a workpiece drawing and determining the contour line of the workpiece based on the workpiece drawing; determining the change points of the contour line based on the contour line; dividing the processing area based on the change points, and fitting the change points into line segments within the area; generating processing lines with a preset spacing and a preset number within the area based on the line segments within the area, and setting an advance point on each of the processing lines to obtain a regional image trajectory. The present application belongs to the field of processing trajectory generation. The workpiece is divided into regions based on the change points of the workpiece contour line, and the image trajectory generated within the processing area is more accurate.

Description

Technical Field

[0001] The present application relates to the field of machining trajectory generation, and in particular to a trajectory generation method, system, device and storage medium based on drawing data and image recognition. Background Art

[0002] Current workpiece processing technology is limited to generating trajectories based on CAD drawings and does not take into account the deformation of the workpiece, resulting in insufficient processing accuracy. During the processing and production process, the deformation of the workpiece will cause trajectory deviation, and the generated trajectory does not have the setting of advancing the switching point and extending the trajectory when called by the motion controller, making it inconvenient to use. Summary of the Invention

[0003] The main purpose of this application is to provide a trajectory generation method, system, device and storage medium based on drawing data and image recognition, aiming to solve the technical problem of insufficient processing accuracy in the existing technology.

[0004] To achieve the above objectives, the present application provides a trajectory generation method based on drawing data and image recognition, the trajectory generation method based on drawing data and image recognition comprising:

[0005] Obtaining a workpiece drawing, and determining a contour line of the workpiece based on the workpiece drawing;

[0006] Based on the contour line, determining a change point of the contour line;

[0007] Divide the processing area based on the change points, and fit the change points into line segments within the area;

[0008] Based on the line segments in the area, processing lines with a preset spacing and a preset number in the area are generated, and an advance point is set on each of the processing lines to obtain a regional image trajectory.

[0009] Optionally, the step of determining the contour line of the workpiece based on the workpiece drawing includes:

[0010] Based on the workpiece drawing, a reference line and a preset detection width are set;

[0011] Determining a border area based on the baseline and the preset detection width;

[0012] Based on the frame area, a contour line of the workpiece is determined.

[0013] Optionally, the step of determining a change point of the contour line based on the contour line includes:

[0014] Detecting pixel values of points at preset intervals on the contour line along a perpendicular line to the contour line;

[0015] Based on the pixel values, a change point of the contour line is determined.

[0016] Optionally, the step of dividing the processing area based on the change points and fitting the change points into line segments within the area includes:

[0017] determining an area between adjacent change points as a processing area;

[0018] Adjacent change points are fitted into line segments within the region.

[0019] Optionally, the step of generating processing lines with a preset spacing and a preset number within the area based on the line segments within the area includes:

[0020] Generate a preset number of processing lines with a preset spacing within the area in any side direction of the line segment within the area;

[0021] The end point of each line segment is determined by the position of the change point.

[0022] Optionally, after the step of setting an advance point on each processing line to obtain a regional image trajectory, the method includes:

[0023] The image trajectory of each region is integrated to obtain the final workpiece image trajectory.

[0024] Optionally, the advance point includes an advance opening point, an advance closing point, an advance starting point and a delayed end point.

[0025] The present application also provides a trajectory generation system based on drawing data and image recognition, the trajectory generation system based on drawing data and image recognition comprising:

[0026] An acquisition module, configured to acquire a workpiece drawing and determine a contour line of the workpiece based on the workpiece drawing;

[0027] a determining module, configured to determine a change point of the contour line based on the contour line;

[0028] A fitting module, configured to divide a processing area based on the change points and fit the change points into line segments within the area;

[0029] A generation module is used to generate processing lines with a preset spacing and a preset number within the area based on the line segments within the area, and set an advance point on each of the processing lines to obtain a regional image trajectory.

[0030] The present application also provides a trajectory generation device based on drawing data and image recognition, the trajectory generation device based on drawing data and image recognition comprising: a memory, a processor, and a program stored in the memory for implementing the trajectory generation method based on drawing data and image recognition.

[0031] The memory is used to store a program for implementing a trajectory generation method based on drawing data and image recognition;

[0032] The processor is used to execute a program for implementing the trajectory generation method based on drawing data and image recognition, so as to implement the steps of the trajectory generation method based on drawing data and image recognition.

[0033] The present application also provides a storage medium, on which is stored a program for implementing a trajectory generation method based on drawing data and image recognition. The program for implementing a trajectory generation method based on drawing data and image recognition is executed by a processor to implement the steps of the trajectory generation method based on drawing data and image recognition.

[0034] This application provides a trajectory generation method, system, device, and storage medium based on drawing data and image recognition. Compared with the existing technology that does not consider workpiece deformation and leads to insufficient processing accuracy, in this application, a workpiece drawing is obtained and, based on the workpiece drawing, the contour line of the workpiece is determined; based on the contour line, the change points of the contour line are determined; based on the change points, the processing area is divided, and the change points are fitted into line segments within the area; based on the line segments within the area, a preset spacing and a preset number of processing lines are generated within the area, and an advance point is set on each of the processing lines to obtain a regional image trajectory. The workpiece is divided into regions based on the change points of the workpiece contour line, and the image trajectory generated within the processing area is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive work.

[0036] Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application;

[0037] Figure 2 This is a flow chart of the first embodiment of the trajectory generation method based on drawing data and image recognition of this application;

[0038] Figure 3 A schematic diagram of setting a baseline and a detection width in the trajectory generation method based on drawing data and image recognition in this application;

[0039] Figure 4 This is a schematic diagram of detecting contour line change points in the trajectory generation method based on drawing data and image recognition in this application;

[0040] Figure 5 This is a schematic diagram of generating a processing line in the trajectory generation method based on drawing data and image recognition in this application;

[0041] Figure 6 This is a schematic diagram of setting advance points on the processing line in the trajectory generation method based on drawing data and image recognition in this application.

[0042] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0044] like Figure 1 As shown, Figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present application.

[0045] The terminal in the embodiment of the present application can be a PC, or it can be a smart phone, tablet computer, e-book reader, MP3 (Moving Picture Experts Group Audio Layer III, Moving Picture Experts Compression Standard Audio Layer 3) player, MP4 (Moving Picture Experts Group Audio Layer IV, Moving Picture Experts Compression Standard Audio Layer 4) player, portable computer and other portable terminal devices with display function.

[0046] like Figure 1As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0047] Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among them, sensors include light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor may turn off the display screen and / or backlight when the mobile terminal is moved to the ear. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in all directions (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; of course, the mobile terminal can also be configured with other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., which will not be repeated here.

[0048] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation to the terminal, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0049] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating device, a network communication module, a user interface module, and a trajectory generation program based on drawing data and image recognition.

[0050] exist Figure 1In the terminal shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the trajectory generation program based on drawing data and image recognition stored in the memory 1005.

[0051] Reference Figure 2 , an embodiment of the present application provides a trajectory generation method based on drawing data and image recognition, the trajectory generation method based on drawing data and image recognition comprising:

[0052] Step S100, obtaining a workpiece drawing, and determining a contour line of the workpiece based on the workpiece drawing;

[0053] Step S200, determining a change point of the contour line based on the contour line;

[0054] Step S300, dividing the processing area based on the change points, and fitting the change points into line segments within the area;

[0055] Step S400 : Based on the line segments in the region, generating processing lines with a preset spacing and a preset number in the region, and setting an advance point on each of the processing lines to obtain a regional image trajectory.

[0056] In this embodiment, the specific application scenario may be:

[0057] During the fabric processing and production process, a trajectory is generated based on the fabric's CAD drawings and then called upon to process and produce the fabric using a motion controller. However, this process fails to account for fabric deformation, resulting in insufficient machining accuracy. This method also introduces trajectory deviations due to workpiece deformation during the production process. Furthermore, the generated trajectory does not include switch point advances or trajectory extension settings when called upon by the motion controller, making it inconvenient to use.

[0058] The specific steps are as follows:

[0059] Step S100, obtaining a workpiece drawing, and determining a contour line of the workpiece based on the workpiece drawing;

[0060] In this embodiment, the workpiece drawing is a drawing used to describe the structure and function of the workpiece. The workpiece drawing can be either an electronic drawing or a paper drawing. Electronic drawings include CAD drawings, SolidWork drawings, and Unigraphics NX drawings, and are not specifically limited here. For example, the workpiece drawing is a CAD drawing of clothing material, which describes the shape, color, structure, and other information of the clothing material.

[0061] In this embodiment, a workpiece drawing is first obtained, wherein the method for obtaining the workpiece drawing may be:

[0062] Method 1: receiving a workpiece drawing data file input by a user, and the system parsing the workpiece drawing data file to obtain the workpiece drawing.

[0063] Method 2: Scan the workpiece drawing input by the user to obtain the information of the workpiece drawing.

[0064] In this embodiment, the system obtains a workpiece model based on the workpiece drawing and, based on the workpiece model, determines the workpiece's contour. A workpiece's contour refers to one or more lines surrounding the workpiece's contents and inner margins. The system can determine the workpiece's contour by setting a baseline, locating the workpiece model's contour, and determining the workpiece's contour; or by calculating and locating an edge image of the workpiece model and performing edge segmentation to determine the workpiece's contour. For example, a CAD drawing of clothing material is input, and the system determines the clothing material model and its contour.

[0065] Specifically, the step S100 includes the following steps S110-S130:

[0066] Step S110, setting a reference line and a preset detection width based on the workpiece drawing;

[0067] In this embodiment, referring to Figure 3 Based on the workpiece drawing, the system sets a baseline and a preset detection width on the workpiece model of the workpiece drawing, wherein the baseline is a line system used as a comparison reference on the plane, and the preset detection width is a maximum detection width set to limit the width of the contour line of the workpiece detected based on the baseline, which is equivalent to determining the border area within the preset detection width of the baseline, and determining the contour line of the workpiece based on the border area. It should be noted that the preset detection width can be set and adjusted by itself, and is not specifically limited here.

[0068] Step S120, determining a frame area based on the baseline and the preset detection width;

[0069] In this embodiment, the system determines the frame area based on the reference line and the preset detection width, taking the reference line as the reference and within the preset detection width of the reference line. Figure 3 , the dotted area is the border area.

[0070] Step S130 : determining the contour line of the workpiece based on the frame area.

[0071] In this embodiment, the system determines the contour line of the workpiece within the frame area based on the frame area.

[0072] In this embodiment, the system sets a baseline and a preset detection width on the workpiece model of the workpiece drawing based on the workpiece drawing, determines a border area within the preset detection width of the baseline, and based on the border area, makes the contour line of the workpiece more accurately determined.

[0073] Step S200, determining a change point of the contour line based on the contour line;

[0074] In this embodiment, the contour is a curve composed of a series of connected points, representing the basic shape of the workpiece. Compared with the edge, the edge is not completely continuous, while the contour is continuous.

[0075] A contour change point is a point on the workpiece's contour where a pixel value changes. A pixel value is an RGB color value. RGB is a commonly used representation of color information, using the brightness of the three primary colors (red, green, and blue) to quantitatively represent color. The RGB color values of the contour line can be determined using a preset RGB model to determine the RGB color values of the pixel blocks in the video frame. The RGB model, also known as the additive color mixing model, achieves color mixing by superimposing the three RGB colors, making it suitable for displays such as monitors. RGB can be viewed as a unit cube in a three-dimensional rectangular coordinate color system. Any color in the RGB color space can be represented by a point in the three-dimensional space. In the RGB color space, when the brightness of any primary color is zero, that is, at the origin, black is displayed. When all three primary colors reach maximum brightness, white is displayed. The diagonal line connecting black and white is a gray color, a mixture of the three primary colors with equal brightness. This line is called a gray line, and the color value of the gray line is the grayscale value. A grayscale digital image is an image in which each pixel has only one sampled color. These images are typically displayed as grayscale, ranging from darkest black to brightest white, representing different colors at varying brightnesses. Unlike black and white images, grayscale images have many levels of color depth between black and white. Grayscale values are those where the RGB values are identical.

[0076] The preset RGB model has the function of determining the RGB color value of a point on a contour line, so as to determine the change point of the contour line. The preset RGB model is set on the system side. Specifically, the preset RGB model is trained by first obtaining pixel block training samples and RGB labels of the pixel block training samples.

[0077] Inputting the pixel block training sample into the preset to-be-trained model to obtain an RGB result;

[0078] Calculate the difference between the predicted RGB result and the RGB label of the pixel block training sample to obtain an error result;

[0079] Based on the error result, determining whether the error result meets an error standard indicated by a preset error threshold range;

[0080] If the training error result does not meet the error standard indicated by the preset error threshold range, the pixel block training sample is input into the preset model to be trained to obtain an RGB result, and the training is stopped until the training error result meets the error standard indicated by the preset error threshold range to obtain the preset RGB model.

[0081] It should be noted that the pixel value of a point on the workpiece contour line is the color value of the pixel block at this point.

[0082] For example, on the contour line of a workpiece, the pixel value of one point is (120, 120, 120), that is, the grayscale value is 120, and the pixel value of the adjacent point is (180, 180, 180), that is, the grayscale value is 180. These two points are the changing points.

[0083] Specifically, the step S200 includes the following steps S210-S220:

[0084] Step S210, detecting pixel values of points at a preset interval on the contour line along a perpendicular line to the contour line;

[0085] In this embodiment, referring to Figure 4 The system detects the pixel values of points at a preset interval along a perpendicular line to the contour line. Since most points on the contour line have consecutively identical pixel values, to reduce computational complexity and improve computational efficiency, the system detects the pixel values of points at a preset interval along the perpendicular line to the contour line. This means that the pixel values of points on the contour line are detected at the same interval. The preset interval can be set based on accuracy requirements and is not specifically limited here.

[0086] Step S220: determining the change point of the contour line based on the pixel value.

[0087] In this embodiment, the pixel values of the points on the contour line are compared, the difference in pixel values of adjacent points is determined, and the change point of the contour line is determined. If the difference in pixel values of the adjacent points is greater than or equal to a preset threshold, it is determined to be a change point of the contour line; if the difference in pixel values of the adjacent points is less than the preset threshold, it is determined to be a non-change point of the contour line.

[0088] Step S300, dividing the processing area based on the change points, and fitting the change points into line segments within the area;

[0089] In this embodiment, the system divides the processing area based on the change points and fits the change points into line segments within the area, wherein the system divides the contour line of the workpiece into processing areas according to the change points of the contour line of the workpiece, and each area is a line segment of the contour line of the workpiece.

[0090] Specifically, the step S300 includes the following steps S310-S320:

[0091] Step S310, determining the area between the adjacent change points as a processing area;

[0092] In this embodiment, the system determines the area between the adjacent change points as the processing area, wherein the adjacent change points are the two end points of the processing area, the adjacent change points are points whose pixel values are less than the preset threshold, and the points within the area are all points whose pixel values are less than the preset threshold.

[0093] Step S320: fitting the adjacent change points into line segments within the region.

[0094] In this embodiment, the system fits the adjacent change points into line segments within the area, wherein the adjacent change points are the two end points of the processing area, the adjacent change points are points whose pixel values are less than a preset threshold, and the points on the line segment are all points whose pixel values are less than the preset threshold.

[0095] Step S400 : Based on the line segments in the region, generating processing lines with a preset spacing and a preset number in the region, and setting an advance point on each of the processing lines to obtain a regional image trajectory.

[0096] In this embodiment, referring to Figure 5 Based on the line segments within the region, the system generates a preset number of processing lines with a predetermined spacing within the region. The spacing and number of generated line segments can be customized based on needs and are not specifically limited here. The image trajectory within the region is determined using the processing lines within the region, improving the accuracy of the resulting trajectory.

[0097] In this embodiment, referring to Figure 6The system sets an advance point on each of the processing lines to obtain a regional image trajectory, wherein the advance point includes an advance opening point, an advance closing point, an advance starting point and a delayed end point. An advance switching point is set on the trajectory for early switching of glue, an early starting point and a delayed end point, which can facilitate the use and debugging of the motion controller. By setting the advance opening point, the advance closing point, the advance starting point and the delayed end point on the trajectory, the motion controller can open the glue and use it in advance when performing processing work on the trajectory in this area. When entering this area, the movement speed is increased to the working speed. The work in the area is kept at a uniform speed, and the processing work of the next area is prepared at the advance closing point, thereby improving the efficiency of workpiece processing and production.

[0098] Specifically, the step S400 includes the following steps S410-S420:

[0099] Step S410, generating processing lines with a preset spacing and a preset number in the area in any side direction of the line segment in the area;

[0100] In this embodiment, the system generates processing lines with a preset spacing and a preset number within the area on any side direction of the line segment within the area, wherein any side direction includes the left and right directions of the line segment, and the spacing and generated number of the line segments can be set according to needs.

[0101] Step S420, wherein the end point of each line segment is determined by the position of the change point.

[0102] In this embodiment, referring to Figure 6 , the adjacent change points are the two endpoints of each line segment, that is, the adjacent change points are the end points of each line segment, the processing line is parallel to the line segment in the area, the end points of the processing line are based on the positions of the change points, and the change points are extended in parallel to determine the position of the processing line, the adjacent change points are points whose pixel values are less than a preset threshold, and the points of each line segment are points whose pixel values are less than the preset threshold.

[0103] After the step of setting an advance point on each processing line and obtaining a regional image trajectory in step S400, the method includes the following step S500:

[0104] Step S500 : integrating the image trajectory of each region to obtain a final workpiece image trajectory.

[0105] In this embodiment, the trajectories obtained in each processing area are connected and integrated to form the trajectory of the final workpiece image. The workpiece is divided into areas according to the change points of the workpiece contour line, and the image trajectory generated in the processing area is more accurate.

[0106] This application provides a trajectory generation method, system, device, and storage medium based on drawing data and image recognition. Compared with the prior art that does not consider workpiece deformation and leads to insufficient processing accuracy, in this application, a workpiece drawing is obtained and, based on the workpiece drawing, the contour line of the workpiece is determined; based on the contour line, the change points of the contour line are determined; based on the change points, the processing area is divided, and the change points are fitted into line segments within the area; based on the line segments within the area, a preset spacing and a preset number of processing lines are generated within the area, and an advance point is set on each of the processing lines to obtain a regional image trajectory. The workpiece is divided into regions based on the change points of the workpiece contour line, and the image trajectory generated within the processing area is more accurate.

[0107] The present application also provides a trajectory generation system based on drawing data and image recognition, the trajectory generation system based on drawing data and image recognition comprising:

[0108] An acquisition module, configured to acquire a workpiece drawing and determine a contour line of the workpiece based on the workpiece drawing;

[0109] a determining module, configured to determine a change point of the contour line based on the contour line;

[0110] A fitting module, configured to divide a processing area based on the change points and fit the change points into line segments within the area;

[0111] A generation module is used to generate processing lines with a preset spacing and a preset number within the area based on the line segments within the area, and set an advance point on each of the processing lines to obtain a regional image trajectory.

[0112] Optionally, the acquisition module includes:

[0113] A setting module, used for setting a reference line and preset detection width based on the workpiece drawing;

[0114] An area determination module, configured to determine a border area based on the baseline and the preset detection width;

[0115] A border line determination module is used to determine the border line of the workpiece based on the border area.

[0116] Optionally, the determining module includes:

[0117] A detection module, configured to detect the grayscale values of points at a preset interval on the border line along a perpendicular line of the border line;

[0118] The change point determination module is used to determine the change point of the border line based on the grayscale value.

[0119] Optionally, the fitting module includes:

[0120] a processing area determination module, configured to determine an area between adjacent change points as a processing area;

[0121] The curve fitting module is used to fit the adjacent change points into a curve within the area.

[0122] Optionally, the generating module includes:

[0123] A processing line generation module is used to generate processing lines with a preset spacing and a preset number in the area in any direction on either side of the curve in the area;

[0124] The end point of each curve is determined by the position of the change point.

[0125] Optionally, the trajectory generation system based on drawing data and image recognition further includes:

[0126] The trajectory integration module is used to integrate the image trajectory of each region to obtain the final workpiece image trajectory.

[0127] The specific implementation of the trajectory generation system based on drawing data and image recognition in this application is basically the same as the above-mentioned embodiments of the trajectory generation method based on drawing data and image recognition, and will not be repeated here.

[0128] The present application also provides a trajectory generation device based on drawing data and image recognition, the trajectory generation device based on drawing data and image recognition comprising: a memory, a processor, and a program stored in the memory for implementing the trajectory generation method based on drawing data and image recognition.

[0129] The memory is used to store a program for implementing a trajectory generation method based on drawing data and image recognition;

[0130] The processor is used to execute a program for implementing the trajectory generation method based on drawing data and image recognition, so as to implement the steps of the trajectory generation method based on drawing data and image recognition.

[0131] The specific implementation of the trajectory generation device based on drawing data and image recognition in this application is basically the same as the above-mentioned embodiments of the trajectory generation method based on drawing data and image recognition, and will not be repeated here.

[0132] The present application also provides a storage medium, on which is stored a program for implementing a trajectory generation method based on drawing data and image recognition. The program for implementing a trajectory generation method based on drawing data and image recognition is executed by a processor to implement the steps of the trajectory generation method based on drawing data and image recognition.

[0133] The specific implementation of the storage medium of the present application is basically the same as the above-mentioned embodiments of the trajectory generation method based on drawing data and image recognition, and will not be repeated here.

[0134] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0135] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0136] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0137] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A trajectory generation method based on drawing data and image recognition, characterized in that: The trajectory generation method based on drawing data and image recognition includes: Obtaining a workpiece drawing, and determining a contour line of the workpiece based on the workpiece drawing; Based on the contour line, determining a change point of the contour line; Divide the processing area based on the change points, and fit the change points into line segments within the area; The step of dividing the processing area based on the change points and fitting the change points into line segments within the area includes: determining an area between adjacent change points as a processing area; Fitting adjacent change points into line segments within the region; Based on the line segments in the area, generating processing lines with a preset spacing and a preset number in the area, and setting an advance point on each of the processing lines to obtain an area image trajectory; The end point of the processing line is extended in parallel based on the position of the change point, thereby determining the position of the processing line.

2. The trajectory generation method based on drawing data and image recognition according to claim 1, characterized in that: The step of determining the contour line of the workpiece based on the workpiece drawing includes: Based on the workpiece drawing, a reference line and a preset detection width are set; Determining a border area based on the baseline and the preset detection width; Based on the frame area, a contour line of the workpiece is determined.

3. The trajectory generation method based on drawing data and image recognition according to claim 1, characterized in that: The step of determining the change point of the contour line based on the contour line includes: Detecting pixel values of points at preset intervals on the contour line along a perpendicular line to the contour line; Based on the pixel values, a change point of the contour line is determined.

4. The trajectory generation method based on drawing data and image recognition according to claim 1, characterized in that: The step of generating a preset spacing and a preset number of processing lines within the area based on the line segments within the area includes: Generate a preset number of processing lines with a preset spacing within the area in any side direction of the line segment within the area; The end point of each line segment is determined by the position of the change point.

5. The trajectory generation method based on drawing data and image recognition according to claim 1, characterized in that: After the step of setting an advance point on each processing line to obtain a regional image trajectory, the method includes: The image trajectory of each region is integrated to obtain the final workpiece image trajectory.

6. The trajectory generation method based on drawing data and image recognition according to claim 1, characterized in that: The advance points include an advance opening point, an advance closing point, an advance starting point and a delayed end point.

7. A trajectory generation system based on drawing data and image recognition, characterized in that: The trajectory generation system based on drawing data and image recognition includes: An acquisition module, configured to acquire a workpiece drawing and determine a contour line of the workpiece based on the workpiece drawing; a determining module, configured to determine a change point of the contour line based on the contour line; A fitting module, configured to divide a processing area based on the change points and fit the change points into line segments within the area; a processing area determination module, configured to determine an area between adjacent change points as a processing area; A curve fitting module, used for fitting the adjacent change points into a curve within the region; A generation module is used to generate processing lines with a preset spacing and a preset number within the area based on the line segments within the area, and set an advance point on each of the processing lines to obtain a regional image trajectory, wherein the end point of the processing line is extended parallel to the position of the change point to determine the position of the processing line.

8. A trajectory generation device based on drawing data and image recognition, characterized in that: The trajectory generation device based on drawing data and image recognition includes: a memory, a processor, and a program stored in the memory for implementing the trajectory generation method based on drawing data and image recognition. The memory is used to store a program for implementing a trajectory generation method based on drawing data and image recognition; The processor is configured to execute a program for implementing the trajectory generation method based on drawing data and image recognition, so as to implement the steps of the trajectory generation method based on drawing data and image recognition as claimed in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a program for implementing a trajectory generation method based on drawing data and image recognition, and the program for implementing a trajectory generation method based on drawing data and image recognition is executed by a processor to implement the steps of the trajectory generation method based on drawing data and image recognition as described in any one of claims 1 to 6.

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