Laser processing trajectory generation method, system and storage medium based on an intersection three-dimensional model

Abstract

The present invention discloses a method for generating a laser processing trajectory based on an intersection three-dimensional model, including: obtaining an intersection plane according to the geometric center point of the model; discretizing the first intersection line formed by the intersection of the intersection plane and the outer surface of the model to obtain the first discrete point sets; forming a first intersection surface by the first discrete point sets and the central axis, discretizing the second intersection line formed by the intersection of the first intersection surface and the outer surface of the model to obtain the second discrete point sets; forming a second intersection surface by the second discrete point sets and the central axis, discretizing the third intersection line formed by the intersection of the second intersection surface and the outer surface of the model to obtain the third discrete point sets; using the third discrete point sets as the model processing output trajectory, obtaining the included angle θ between the first intersection surface and the second intersection surface, and outputting the processing trajectory in the form of coordinate positions and rotation angles. The theoretical value of the laser processing output trajectory position is basically consistent with the actual processing position, and can well represent the processing curve, which is not only applicable to continuous processing, but also can be used to process complex curved surfaces.

Description

Technical Field

[0001] The present invention relates to the field of laser processing, and specifically to a method, system and storage medium for generating a laser processing trajectory based on an intersection three-dimensional model. Background Art

[0002] With the rapid development of domestic manufacturing industry, people's requirements for the processing of complex surface parts are getting higher and higher. Whether the processing of complex surface parts can be accurately realized to improve the integrity of the processed surface has become the primary task in the field of laser processing, and the generation of the processing trajectory for complex surfaces is the focus of research.

[0003] There are generally two methods for laser processing of known three-dimensional models:

[0004] 1. Stitching, that is, processing in time-sharing and sub-regions. For an entire processing surface, first process the part of the region that can be processed by the laser, and then move the workpiece or the laser to the remaining processing region. The advantage is that it is simple to implement, and the disadvantage is that for multi-region processing, there may be overlapping processing parts, and sometimes complex surfaces do not support setting sub-region processing, so this processing method is only applicable to occasions with low processing requirements.

[0005] 2. Equal-parameter sampling, that is, equally dividing and discretely sampling the processing region. The processing path generated by this method can achieve continuous processing, but when dealing with irregular complex surfaces, it cannot fully represent the curvature characteristics, which will reduce the laser processing effect and cannot meet the high-precision processing requirements. Summary of the Invention

[0006] In order to overcome the disadvantages that complex surfaces do not support setting sub-region processing, cannot fully represent the curvature characteristics, reduce the laser processing effect, and cannot meet the high-precision processing requirements, the purpose of the present invention is to provide a method, system and storage medium for generating a laser processing trajectory based on an intersection three-dimensional model.

[0007] To achieve the above object, in the first aspect of the present invention, a method for generating a laser processing trajectory based on an intersection three-dimensional model is provided, including the following steps:

[0008] S1: Obtain the three-dimensional model of the workpiece to be processed, determine the geometric center point of the three-dimensional model, determine the central axis of the three-dimensional model according to the geometric center point, and obtain a cutting plane along the geometric center point;

[0009] S2: Discretize the first intersection line obtained by the intersection of the cutting plane and the outer surface of the three-dimensional model to obtain the first discrete point sets at each time;

[0010] S3: Form a first intersection surface by each first discrete point set and the central axis, and discretize the second intersection line obtained by the intersection of the first intersection surface and the outer surface of the three-dimensional model to obtain each second discrete point set;

[0011] S4: Form a second intersection surface by each second discrete point set and the central axis, and discretize the third intersection line obtained by the intersection of the second intersection surface and the outer surface of the three-dimensional model to obtain each third discrete point set;

[0012] S5: Obtain the included angle θ between the first intersection surface and the second intersection surface, obtain the coordinates of each third discrete point set, and use the coordinates of each third discrete point set and the included angle θ as the laser processing trajectory. The processing trajectory is output in the form of coordinate positions and rotation angles, denoted as X(P,θ).

[0013] In some possible implementation manners, the "determining the geometric center point of the three-dimensional model" specifically includes: wrapping the three-dimensional model with a bounding box, and using the geometric center of the bounding box as the geometric center point of the three-dimensional model.

[0014] In some possible implementation manners, the bounding box is the smallest cube that completely wraps the three-dimensional model.

[0015] In some possible implementation manners, the cutting plane passes through the geometric center point, and the three-dimensional model can be evenly divided into two along the cutting plane.

[0016] In some possible implementation manners, the central axis is a rotation axis passing through the geometric center point, and all calculations, rotation directions, and coordinates are based on the central axis.

[0017] In some possible implementation manners, the first intersection line is discretized by the equal-distance discretization method to obtain each first discrete point set.

[0018] In some possible implementation manners, the second intersection line is discretized by the equal-distance discretization method to obtain each second discrete point set.

[0019] In some possible implementation manners, the third intersection line is discretized by the equal chord height difference method to obtain each third discrete point set.

[0020] In the second aspect of the present invention, a laser processing trajectory generation system based on an intersecting three-dimensional model is provided, which executes the steps of the above-mentioned laser processing trajectory generation method based on an intersecting three-dimensional model.

[0021] In a third aspect of the present invention, a computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned method for generating a laser processing trajectory based on an intersecting three-dimensional model are implemented or the above-mentioned system for generating a laser processing trajectory based on an intersecting three-dimensional model is executed.

[0022] The beneficial effects of the present invention are as follows: By performing multiple intersections and discretizations on the three-dimensional model, the processing trajectory is output in the form of coordinate positions and rotation angles, denoted as X(P, θ), such that the theoretical value of the laser processing output trajectory position is basically consistent with the actual processing position, and the processing curve can be well represented under a certain error accuracy. The generated processing trajectory is not only applicable to continuous processing but also can be used to process complex surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flowchart of the steps of the method for generating a laser processing trajectory based on an intersecting three-dimensional model according to an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of the position of the three-dimensional model and the bounding box in the method for generating a laser processing trajectory based on an intersecting three-dimensional model according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of the implementation of the three-dimensional model trajectory in an embodiment of the present invention;

[0026] Figure 4 is a curve graph showing the relationship between the rotation angle, the theoretical coordinate value of the output trajectory, and the actual coordinate value of the processing position when the laser processing rotates around the Y axis. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following elaborates on the preferred embodiments of the present invention in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0028] Referring to the attached Figure 1 As shown, this embodiment provides a method for generating a laser processing trajectory based on an intersecting three-dimensional model, including the following steps:

[0029] S1: Obtain the three-dimensional model of the workpiece through three-dimensional software, determine the geometric center point of the three-dimensional model, determine the central axis of the three-dimensional model according to the geometric center point, and obtain the cutting plane along the geometric center point;

[0030] Referring to the attached Figure 2As shown, the "determining the geometric center point of the three-dimensional model" specifically includes: wrapping the three-dimensional model with a bounding box, and taking the geometric center point of the bounding box as the geometric center point of the three-dimensional model. The bounding box is the smallest cube that completely wraps the three-dimensional model. Since the bounding box is a standard cube with a definite center position, the center of the three-dimensional model can be clearly determined through the bounding box.

[0031] The central axis is a rotation axis passing through the geometric center point, and all calculations, rotation directions, and coordinates are based on the central axis.

[0032] The cutting plane passes through the geometric center point, and the three-dimensional model can be evenly divided into two along the cutting plane. The division into two by the cutting plane is only a visual symmetry, not a physical cut in half. The purpose of doing this is to obtain the intersection line formed by the cutting plane and the surface of the three-dimensional object, which is simpler and easier to express.

[0033] S2: Discretize the first intersection line obtained by the intersection of the cutting plane and the outer surface of the three-dimensional model. Discretize it by the equal-distance discretization method to obtain the first discrete point sets.

[0034] S3: Form the first intersection surface through the first discrete point sets and the central axis, discretize the second intersection line obtained by the intersection of the first intersection surface and the outer surface of the three-dimensional model, and discretize it by the equal-distance discretization method to obtain the second discrete point sets.

[0035] S4: Form the second intersection surface through the second discrete point sets and the central axis, discretize the third intersection line obtained by the intersection of the second intersection surface and the outer surface of the three-dimensional model, and discretize it by the equal chord height difference method. The calculation formula of the equal chord height difference method is:

[0036]

[0037] Where r is the radius of the circle, l is the chord length, and h is the chord height. When calculating the equal chord height, after the third intersection, the h of the discrete points on each intersection line is the same.

[0038] Refer to the appendix Figure 3 As shown, Figure 3 It is a schematic diagram of the realization of the three-dimensional model trajectory. In the figure, 1. Cutting plane; 2. First intersection line; 3. First discrete point sets; 4. Central axis; 5. First intersection surface; 6. Second intersection line.

[0039] S5: Obtain the included angle θ between the first intersection surface and the second intersection surface, obtain the coordinates of the third discrete point sets, and take the coordinates of the third discrete point sets and the included angle θ as the laser processing trajectory. The processing trajectory is output in the form of coordinate positions and rotation angles, denoted as X(P,θ), where P is (x, y, z).

[0040] Parameters such as the number and discrete distance of the above discrete points can be optionally input by the user in the software system according to actual processing requirements.

[0041] Refer to Attachment Figure 4 As shown in the figure and Table 1, when the workpiece moves at a constant speed, the motion parameters of the servo control system are controllable, and laser processing is performed with the Y-axis as the rotation center, the theoretical coordinate values of the output trajectory are basically the same as the actual coordinate values of the processing position, and continuous laser processing can ultimately be achieved.

[0042] Table 1: Parameters of the rotation angle, theoretical value of the output trajectory position and actual processing position when laser processing takes the Y-axis as the rotation center

[0043]

[0044]

[0045]

[0046] In the second aspect of the present invention, a laser processing trajectory generation system based on an intersection three-dimensional model is provided, which executes the steps of the above-mentioned laser processing trajectory generation method based on an intersection three-dimensional model.

[0047] In the third aspect of the present invention, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of the above-mentioned laser processing trajectory generation method based on an intersection three-dimensional model or executes the above-mentioned laser processing trajectory generation system based on an intersection three-dimensional model.

[0048] The storage medium stores program instructions capable of implementing all the above methods. Among them, the program instructions can be stored in the above storage medium in the form of a software product, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present invention. And the aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks or optical discs that can store program codes, or terminal devices such as computers, servers, mobile phones, and tablets.

[0049] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it. It should not be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. Laser processing trajectory generation method based on an intersecting three-dimensional model, characterized in that, it includes the following steps: S1: Obtain the three-dimensional model of the workpiece, determine the geometric center point of the three-dimensional model, determine the central axis of the three-dimensional model according to the geometric center point, and obtain the cutting plane along the geometric center point; S2: Discretize the first intersection line obtained by the intersection of the cutting plane and the outer surface of the three-dimensional model to obtain the first discrete point sets; S3: Form the first intersecting plane through the first discrete point sets and the central axis, discretize the second intersection line obtained by the intersection of the first intersecting plane and the outer surface of the three-dimensional model to obtain the second discrete point sets; S4: Form the second intersecting plane through the second discrete point sets and the central axis, discretize the third intersection line obtained by the intersection of the second intersecting plane and the outer surface of the three-dimensional model to obtain the third discrete point sets; S5: Obtain the included angle θ between the first intersecting plane and the second intersecting plane, obtain the coordinates of the third discrete point sets, and use the coordinates of the third discrete point sets and the included angle θ as the laser processing trajectory, and the processing trajectory is output in the form of coordinate positions and rotation angles, denoted as X(P,θ).

2. The laser processing trajectory generation method based on an intersecting three-dimensional model according to claim 1, characterized in that, the "determining the geometric center point of the three-dimensional model" specifically includes: establishing a bounding box to wrap the three-dimensional model, and taking the geometric center of the bounding box as the geometric center point of the three-dimensional model.

3. The laser processing trajectory generation method based on an intersecting three-dimensional model according to claim 2, characterized in that, the bounding box is the smallest cube that completely wraps the three-dimensional model.

4. The laser processing trajectory generation method based on an intersecting three-dimensional model according to claim 1, characterized in that, the cutting plane passes through the geometric center point, and the three-dimensional model can be evenly divided into two along the cutting plane.

5. The laser processing trajectory generation method based on an intersecting three-dimensional model according to claim 1, characterized in that: the central axis is a rotation axis passing through the geometric center point, and all calculations, rotation directions, and coordinates are based on the central axis.

6. The laser processing trajectory generation method based on an intersecting three-dimensional model according to claim 1, characterized in that, the first intersection line is discretized by the equal-distance discretization method to obtain the first discrete point sets.

7. The laser processing trajectory generation method based on an intersecting three-dimensional model according to claim 1, characterized in that, the second intersection line is discretized by the equal-distance discretization method to obtain the second discrete point sets.

8. The laser processing trajectory generation method based on an intersecting three-dimensional model according to claim 1, characterized in that, the third intersection line is discretized by the equal chord height difference method to obtain the third discrete point sets.

9. Laser processing trajectory generation system based on an intersecting three-dimensional model, characterized in that, it executes the steps of the laser processing trajectory generation method based on an intersecting three-dimensional model according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, it implements the steps of the method for generating a laser processing trajectory based on an intersection three-dimensional model according to any one of claims 1-8, or executes the system for generating a laser processing trajectory based on an intersection three-dimensional model according to claim 9.

Images