A laser cutting transition arc processing method and device

Abstract

The embodiment of the present application belongs to the field of numerical control, and relates to a transition arc processing method for laser cutting, including obtaining continuous trajectory data of the transition arc trajectory to be interpolated; calculating the theoretical limit values ​​of the starting point and end point of the transition arc trajectory according to the continuous trajectory data; comparing the theoretical limit value with the preset limit value, and taking the minimum limit value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, wherein the maximum accuracy value Acc is the limit value for the smooth transition of the transition arc trajectory between continuous trajectories; calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data; constructing a trajectory queue according to the continuous trajectory data and the transition arc parameters, and outputting the trajectory queue. The present application also provides a transition arc processing device for laser cutting. The present application is based on the maximum accuracy value Acc of the transition arc trajectory, and then calculates the transition arc parameters to ensure that the transition arc trajectory smoothly transitions between continuous trajectories and improve cutting accuracy.

Description

Technical Field

[0001] The present application relates to the field of numerical control technology, and more specifically, to a transition arc processing method and device for laser cutting. Background Art

[0002] In laser cutting processing, in order to ensure the continuity of corners between continuous trajectories, transition arcs need to be interpolated at the corners between continuous trajectories. At present, the radius of the corner is generally determined by setting a radius value externally (such as manual setting), and then the transition arc is interpolated according to the set radius value. However, for continuous trajectories of different trajectory types and trajectory parameters, the maximum diameter of the interpolated transition arc between continuous trajectories is less than the set radius value, resulting in the inability of the interpolated transition arc to smoothly transition between continuous trajectories, large vibration in corner cutting, and low cutting accuracy. Summary of the invention

[0003] The embodiment of the present application is to provide a transition arc processing method and device for laser cutting, which are used to solve the problem in the prior art that the transition arc cannot smoothly transition between continuous trajectories and the cutting accuracy is low.

[0004] In order to solve the above technical problems, the embodiment of the present application provides a transition arc processing method for laser cutting, which adopts the following technical solution: The transition arc processing method for laser cutting includes the following steps:

[0005] Obtain the continuous trajectory data of the transition arc trajectory to be interpolated;

[0006] Calculating theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data;

[0007] The theoretical limit value is compared with the preset limit value, and the minimum limit value between the theoretical limit value and the preset limit value is used as the maximum accuracy value Acc, wherein the maximum accuracy value Acc is the limit value for the smooth transition of the transition arc trajectory between continuous trajectories;

[0008] Calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data;

[0009] A trajectory queue is constructed according to the continuous trajectory data and the transition arc parameters, and the trajectory queue is output.

[0010] Furthermore, the step of calculating the theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data includes:

[0011] According to the continuous trajectory data, the coordinates of the limit point ipo1 at the starting point of the transition arc trajectory and the coordinates of the limit point ipo2 at the end point are calculated;

[0012] Obtain the angle bisector of the angle β between the continuous trajectories, and obtain the perpendicular line L perpendicular to the angle bisector ⊥ , where the vertical line L ⊥ Passing through the turning point turnPos of the continuous trajectory;

[0013] Calculate the distance from the limit point ipo1 to the vertical line L according to the distance formula ⊥ The distance d1 and the limit point ipo2 to the vertical line L ⊥ The distance d1 is the theoretical limit value of the starting point of the transition arc trajectory, and the distance d2 is the theoretical limit value of the end point of the transition arc trajectory.

[0014] Furthermore, the step of calculating the coordinates of the limit point ipo1 at the starting point of the transition arc trajectory and the coordinates of the limit point ipo2 at the end point according to the continuous trajectory data includes:

[0015] Step A1, when the Nth segment of the continuous trajectory is a straight trajectory, obtain the midpoint data corresponding to the midpoint of the straight trajectory, and calculate the coordinates of the limit point ipo1 or the coordinates of the limit point ipo2 according to the midpoint data, where N≥1;

[0016] Step A2: when the Mth segment of the continuous trajectory is a circular arc trajectory, the center angle θ of the circular arc trajectory is calculated according to the continuous trajectory data. c , where M ≥ 1;

[0017] Get the arc trajectory except the turning point turnPos and the vertical line L ⊥ The intersection point crossPos of the circular arc trajectory is obtained, and the arc segment trajectory between the intersection point crossPos and the end point of the circular arc trajectory is obtained, and the center angle θ corresponding to the circular arc segment trajectory is calculated. p ;

[0018] Compare the center angle θ according to the preset conditions c and the central angle θ p , get the comparison result;

[0019] The coordinates of the limit point ipo1 or the coordinates of the limit point ipo2 are determined according to the comparison result.

[0020] Further, the step of calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data includes:

[0021] According to the preset translation value, the vertical line L ⊥ Translate along the preset direction to obtain the vertical line L ⊥The intersection points p1 and p2 with the continuous trajectory;

[0022] According to the maximum accuracy value Acc, the intersection point p1 is used as the starting point of the transition arc trajectory, and the intersection point p2 is used as the end point of the transition arc trajectory. The radius R of the transition arc trajectory is calculated according to the continuous trajectory data. round and the center O round ;

[0023] Through the intersection point p1, the intersection point p2, the radius R round and the center O round The transition arc parameters are obtained by merging.

[0024] Furthermore, the radius R of the transition arc trajectory is calculated according to the continuous trajectory data. round and the center O round The steps include:

[0025] Acquire a trajectory type in the continuous trajectory data, wherein the trajectory type is a continuous trajectory of two straight line trajectories, a continuous trajectory of a straight line trajectory and a circular arc trajectory, or a continuous trajectory of two circular arc trajectories;

[0026] The radius R of the transition arc trajectory is determined and calculated according to the trajectory type. round and how to calculate the center of the circle;

[0027] The radius R of the transition arc trajectory is calculated by the calculation method round and the center O round .

[0028] Furthermore, in calculating the radius R of the transition arc trajectory according to the continuous trajectory data round and the center O round After the step of passing through the intersection point p1, the intersection point p2, the radius R round and the center O round Before the step of combining to obtain the transition arc parameters, the method further includes:

[0029] Calculate O round p1 and O round p2 vector product, where O round p1 is the center of the circle O round The vector pointing to the intersection point p1, the O round p2 is the center O of the circle round A vector pointing to the intersection point p2;

[0030] Determine whether the vector product is greater than 0, and obtain a determination result;

[0031] The trajectory direction of the transition arc trajectory is determined according to the judgment result, wherein the trajectory direction is clockwise or counterclockwise.

[0032] Furthermore, before the step of obtaining the continuous trajectory data of the transition arc trajectory to be interpolated, the method further includes:

[0033] Acquire continuous trajectory data from a trajectory set, wherein the trajectory set includes a plurality of sets of the continuous trajectory data;

[0034] Calculating the turning angle β between the continuous trajectories according to the continuous trajectory data;

[0035] Whether the transition arc trajectory needs to be interpolated is determined based on whether the corner β satisfies a preset value.

[0036] Furthermore, the step of calculating the angle β between the continuous trajectories includes:

[0037] Calculate the unit vector vec1 and the unit vector vec2 of the continuous trajectory according to the continuous trajectory data;

[0038] The angle β between the unit vector vec1 and the unit vector vec2 is calculated by an arc cosine function.

[0039] Furthermore, the step of judging whether it is necessary to interpolate the transition arc trajectory according to whether the turning angle β satisfies a preset value includes:

[0040] Determine whether the turning angle β is equal to π, wherein the preset value is π;

[0041] When the turning angle β is equal to π, there is no need to interpolate the transition arc trajectory between the continuous trajectories;

[0042] When the turning angle β is not equal to π, the transition arc trajectory needs to be interpolated between the continuous trajectories.

[0043] In order to solve the above technical problems, the embodiment of the present application further provides a transition arc processing device for laser cutting, which adopts the following technical solution: the transition arc processing device for laser cutting comprises:

[0044] A first acquisition module is used to acquire continuous trajectory data of a transition arc trajectory to be interpolated;

[0045] The first calculation module is used to calculate the theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data.

[0046] A second calculation module is used to compare the theoretical limit value with the preset limit value, and take the minimum limit value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, wherein the maximum accuracy value Acc is the limit value for the smooth transition of the transition arc trajectory between continuous trajectories;

[0047] A third calculation module, used for calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data; and

[0048] The queue output module is used to construct a trajectory queue according to the continuous trajectory data and transition arc parameters, and output the trajectory queue.

[0049] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0050] The present application obtains the continuous trajectory data of the transition arc trajectory to be interpolated; calculates the theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data; compares the theoretical limit value with the preset limit value, and takes the minimum limit value between the theoretical limit value and the preset limit value as the maximum precision value Acc, wherein the maximum precision value Acc is the limit value of the transition arc trajectory in smooth transition between continuous trajectories; calculates the transition arc parameters of the transition arc trajectory according to the maximum precision value Acc and the continuous trajectory data; constructs a trajectory queue according to the continuous trajectory data and the transition arc parameters, and outputs the trajectory queue. First, the theoretical limit values ​​of the starting point and the end point of the transition arc trajectory are calculated, and then the theoretical limit value is compared with the preset limit value, and the minimum value between the theoretical limit value and the preset limit value is taken as the maximum precision value Acc, and then based on the constraint of the maximum precision value Acc, the transition arc parameters are calculated so that the obtained transition arc trajectory is within the maximum precision value Acc of the continuous trajectory, thereby achieving smooth transition of the transition arc trajectory between continuous trajectories and improving cutting efficiency and cutting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the scheme of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 is an exemplary system architecture diagram to which the present application may be applied;

[0053] Figure 2 A flow chart of a transition arc processing method for laser cutting according to the present application;

[0054] Figure 3 The continuous trajectory of the transition arc processing method of laser cutting according to the present application is a schematic diagram of two straight line trajectories;

[0055] Figure 4 A schematic diagram showing two segments of motion trajectories in a continuous trajectory of a transition arc processing method for laser cutting according to the present application, which are a straight line trajectory and an arc trajectory in sequence;

[0056] Figure 5 A schematic diagram of two segments of motion trajectories in a continuous trajectory of a transition arc processing method for laser cutting according to the present application, which are a circular arc trajectory and a straight line trajectory in sequence;

[0057] Figure 6 The continuous trajectory of the transition arc processing method of laser cutting according to the present application is a schematic diagram of two arc trajectories;

[0058] Figure 7 is a schematic structural diagram of a transition arc processing device for laser cutting according to the present application;

[0059] Figure 8 It is a structural schematic diagram of a computer device according to the present application. DETAILED DESCRIPTION

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0061] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0062] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0063] like Figure 1As shown, the system architecture 100 may include terminal devices 101, 102, 103, a network 104 and a server 105. The network 104 is used to provide a medium for communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0064] Users can use terminal devices 101, 102, 103 to interact with server 105 through network 104 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 101, 102, 103, such as web browser applications, shopping applications, search applications, instant messaging tools, email clients, social platform software, etc.

[0065] Terminal devices 101, 102, 103 can be various electronic devices with display screens and supporting web browsing, including but not limited to smart phones, tablet computers, e-book readers, MP3 players (Moving Picture Experts Group Audio Layer III), MP4 (Moving Picture Experts Group Audio Layer IV) players, laptop computers, desktop computers, etc.

[0066] The server 105 may be a server that provides various services, such as a background server that provides support for web pages displayed on the terminal devices 101 , 102 , and 103 .

[0067] It should be noted that the transition arc processing method for laser cutting provided in the embodiment of the present application is generally executed by a server / terminal device, and accordingly, the transition arc processing device for laser cutting is generally arranged in the server / terminal device.

[0068] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0069] Continue to refer Figure 2 , shows a flow chart of an embodiment of a laser cutting transition arc processing method according to the present application. The laser cutting transition arc processing method comprises the following steps:

[0070] S201, obtaining continuous trajectory data of the transition arc trajectory to be interpolated.

[0071] Specifically, the above-mentioned continuous trajectory data includes trajectory parameters and trajectory types, wherein the trajectory parameters include parameters of the starting point coordinates and the end point coordinates of the trajectory. If the trajectory is an arc trajectory, the trajectory parameters also include parameters of the center coordinates and the radius, and the trajectory type is a straight line trajectory or an arc trajectory. If the continuous trajectory includes two continuous motion trajectories, according to the trajectory type, the first motion trajectory can be a straight line trajectory or an arc trajectory, and the second motion trajectory can be a straight line trajectory or an arc trajectory. The corresponding calculation method is adopted according to the continuous trajectories of different trajectory types to ensure that the transition arc trajectories finally obtained by different trajectory types can smoothly transition between continuous trajectories.

[0072] S202, according to the continuous trajectory data, calculate the theoretical limit values ​​of the transition arc trajectory starting point and end point.

[0073] Specifically, the theoretical limit value of the starting point of the transition arc trajectory is the maximum value of the starting point of the transition arc trajectory, which is used to compare with the preset limit value to ensure that the transition arc trajectory transitions smoothly between continuous trajectories; the theoretical limit value of the end point of the transition arc trajectory is the maximum value of the end point of the transition arc trajectory, which is used to compare with the preset limit value to ensure that the transition arc trajectory transitions smoothly between continuous trajectories.

[0074] S203, comparing the theoretical limit value with the preset limit value, and taking the minimum limit value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, wherein the maximum accuracy value Acc is the limit value for the smooth transition of the transition arc trajectory between continuous trajectories.

[0075] Specifically, the maximum accuracy value Acc is the maximum transition arc accuracy of the transition arc trajectory under the constraint of the continuous trajectory, which can be understood as the maximum accuracy value Acc is the limit value for the smooth transition of the transition arc trajectory between continuous trajectories; by comparing the theoretical limit value with the preset limit value, the minimum limit value between the theoretical limit value and the preset limit value is used as the maximum accuracy value Acc to avoid the phenomenon that the preset limit value is greater than the maximum arc trajectory allowed to be interpolated between continuous trajectories, thereby ensuring the smooth transition of the transition arc trajectory between continuous trajectories.

[0076] S204, calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data;

[0077] Specifically, under the constraint of the maximum accuracy value Acc, the transition arc parameters of the transition arc trajectory are calculated according to the continuous trajectory data, wherein the transition arc parameters include the starting point coordinates, the end point coordinates, the center coordinates and the radius value of the transition arc.

[0078] S205: construct a trajectory queue according to the continuous trajectory data and the transition arc parameters, and output the trajectory queue.

[0079] Specifically, the trajectory queue is output to an interpolator. In practical applications, the interpolator performs interpolation according to the trajectory queue.

[0080] This application first calculates the theoretical limit values ​​of the starting point and end point of the transition arc trajectory, then compares the theoretical limit value with the preset limit value, takes the minimum value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, and then calculates the transition arc parameters based on the constraint of the maximum accuracy value Acc, so that the obtained transition arc trajectory is within the maximum accuracy value Acc of the continuous trajectory, thereby achieving a smooth transition of the transition arc trajectory between continuous trajectories and improving cutting efficiency and cutting accuracy.

[0081] Furthermore, the transition arc processing method for laser cutting of the present application can also be applied to B-spline corner transition processing and NURBS corner transition processing.

[0082] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0083] In some optional implementations of this embodiment, in the above step S202, the step of calculating the theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data includes:

[0084] According to the continuous trajectory data, the coordinates of the limit point ipo1 at the starting point of the transition arc trajectory and the coordinates of the limit point ipo2 at the end point are calculated;

[0085] Obtain the angle bisector of the angle β between the continuous trajectories, and obtain the perpendicular line L perpendicular to the angle bisector ⊥ , where the vertical line L ⊥ Passing through the turning point turnPos of the continuous trajectory;

[0086] Calculate the distance from the limit point ipo1 to the vertical line L according to the distance formula ⊥ The distance d1 and the limit point ipo2 to the vertical line L ⊥ The distance d1 is the theoretical limit value of the starting point of the transition arc trajectory, and the distance d2 is the theoretical limit value of the end point of the transition arc trajectory.

[0087] Specifically, as the above-mentioned continuous trajectory includes two continuous motion trajectories, under the premise of ensuring a smooth transition between the two motion trajectories, the extreme point ipo1 is the extreme starting point where the transition arc trajectory intersects with the first motion trajectory, and the extreme point ipo2 is the extreme end point where the transition arc trajectory intersects with the second motion trajectory.

[0088] After calculating the coordinates of the limit point ipo1 and the end point ipo2, the angle bisector of the angle β between the two motion trajectories is obtained. Calculate the unit vector of the angle bisector. In the above formula, haslfVec represents the unit vector of the angle bisector, vec1 is the unit vector of the first segment of the motion trajectory, vec2 is the unit vector of the second segment of the motion trajectory, and L is the length of the combined vector of vec1 and vec2.

[0089] Then, let the vertical line L ⊥ The coordinates of the point where the perpendicular to the angle bisector intersects are (x h ,y h ), the coordinates of the turning point turnPos are (x t ,y t ), where the vertical line L ⊥ After the turning point turnPos, according to the calculation formula Calculate the vertical line L ⊥ The k and b values ​​of the perpendicular line equation are calculated according to the distance formula Calculate the distance from any point (x, y) to the line L ⊥ The distance d is calculated by substituting the coordinates of the limit point ipo1 into the above distance formula to obtain the distance d1, and the distance d2 is calculated by substituting the coordinates of the limit point ipo2 into the above distance formula.

[0090] Afterwards, the maximum accuracy value Acc is calculated according to the formula Acc=min(d1, d2, setAcc), where setAcc is the preset limit value. The specific comparison process is as follows: the obtained distance d1 and distance d2 are compared with the preset limit values ​​respectively, and the minimum value between the two is taken as the maximum accuracy value Acc. If the preset limit value includes the first accuracy value and the second accuracy value, the distance d1 is compared with the first accuracy value. If the distance d1 is less than or equal to the first accuracy value, the distance d1 is taken as the starting point limit value of the transition arc trajectory. Otherwise, the first accuracy value is taken as the starting point limit value of the transition arc trajectory. Similarly, the distance d2 is compared with the second accuracy value to obtain the end point limit value of the transition arc trajectory. Finally, the obtained starting point limit value and end point limit value are combined to obtain the maximum accuracy value Acc.

[0091] In some optional implementations of this embodiment, the step of calculating the coordinates of the limit point ipo1 at the starting point of the transition arc trajectory and the coordinates of the limit point ipo2 at the end point according to the continuous trajectory data includes:

[0092] Step A1, when the Nth segment of the continuous trajectory is a straight trajectory, obtain the midpoint data corresponding to the midpoint of the straight trajectory, and calculate the coordinates of the limit point ipo1 or the coordinates of the limit point ipo2 according to the midpoint data, where N≥1;

[0093] Step A2: when the Mth segment of the continuous trajectory is a circular arc trajectory, the center angle θ of the circular arc trajectory is calculated according to the continuous trajectory data. c , where M ≥ 1;

[0094] Get the arc trajectory except the turning point turnPos and the vertical line L ⊥ The intersection point crossPos of the circular arc trajectory is obtained, and the arc segment trajectory between the intersection point crossPos and the end point of the circular arc trajectory is obtained, and the center angle θ corresponding to the circular arc segment trajectory is calculated. p ;

[0095] Compare the center angle θ according to the preset conditions c and the central angle θ p , get the comparison result;

[0096] The coordinates of the limit point ipo1 or the coordinates of the limit point ipo2 are determined according to the comparison result.

[0097] Specifically, in step A1, the continuous trajectory includes two segments of motion trajectories; when the first segment of the continuous trajectory is a straight line trajectory, assume that l s (x ls ,y ls ) and l e (x le ,y le ) represent the starting point and end point of the straight line trajectory respectively. In order to ensure the smooth transition of the arc trajectory between the continuous trajectories, the midpoint of the straight line trajectory is taken as the limit point ipo1. According to the formula ipo = 0.5 × (l s +l e ) calculates the coordinates of the limit point ipo1; similarly, when the second segment of the continuous trajectory is a straight line trajectory, according to the formula ipo = 0.5 × (l s +l e )Calculate the coordinates of the limiting point ipo2.

[0098] Specifically, in step A2, the continuous trajectory includes two segments of motion trajectories; when the first segment of the continuous trajectory is an arc trajectory, the starting point coordinates, end point coordinates, radius value and arc length value of the arc trajectory are obtained from the continuous trajectory data, and the center angle θ of the arc trajectory is calculated by the center angle formula according to the starting point coordinates, end point coordinates, radius value and arc length value of the arc trajectory. c ; Then, obtain the vertical line L ⊥The coordinates of the intersection point crossPos with the arc trajectory, obtain the arc segment trajectory between the intersection point crossPos and the end point of the arc trajectory, and calculate the center angle θ corresponding to the arc segment trajectory according to the center angle formula p ; Based on the preset condition 0.5*θ c Is it less than 0.5*θ? p Compare the center angle θ c and the central angle θ p , if 0.5*θ c <0.5*θ p , then the angle from the center of the arc trajectory to the end point of the arc trajectory is 0.5*θ c The point is taken as the limit point ipo1, and the coordinates of the limit point ipo1 are obtained; otherwise, the angle of the arc trajectory from the center of the arc trajectory end point is taken as 0.5*θ p The point is taken as the limit point ipo1, and the coordinates of the limit point ipo1 are obtained; similarly, when the second segment of the continuous trajectory is an arc trajectory, the coordinates of the limit point ipo2 are calculated by the above method.

[0099] In some optional implementations of this embodiment, in the above step S204, the step of calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data includes:

[0100] According to the preset translation value, the vertical line L ⊥ Translate along the preset direction to obtain the vertical line L ⊥ The intersection points p1 and p2 with the continuous trajectory;

[0101] According to the maximum accuracy value Acc, the intersection point p1 is used as the starting point of the transition arc trajectory, and the intersection point p2 is used as the end point of the transition arc trajectory. The radius R of the transition arc trajectory is calculated according to the continuous trajectory data. round and the center O round ;

[0102] Through the intersection point p1, the intersection point p2, the radius R round and the center O round The transition arc parameters are obtained by merging.

[0103] Specifically, the continuous trajectory includes two segments of motion trajectories. The vertical line L is shifted according to the preset translation value. ⊥ Translate along the preset direction (along the vector direction of the angle bisector), the vertical line L after translation ⊥Intersecting with the first segment of the motion trajectory to obtain an intersection point p1 and intersecting with the second segment of the motion trajectory to obtain an intersection point p2; then taking the intersection point p1 as the starting point of the transition arc trajectory and the intersection point p2 as the end point of the transition arc trajectory, and calculating the radius R of the transition arc trajectory according to the trajectory parameters in the continuous trajectory data round and the center O round (For the specific calculation process, please refer to the following description); then, according to the intersection point p1 (the starting point of the transition arc trajectory), the intersection point p2 (the end point of the transition arc trajectory), the radius R round 、Center O round The transition arc parameters can be obtained by merging them.

[0104] In some optional implementations of this embodiment, the radius R of the transition arc trajectory is calculated according to the continuous trajectory data. round and the center O round The steps include:

[0105] Acquire a trajectory type in the continuous trajectory data, wherein the trajectory type is a continuous trajectory of two straight line trajectories, a continuous trajectory of a straight line trajectory and a circular arc trajectory, or a continuous trajectory of two circular arc trajectories;

[0106] The radius R of the transition arc trajectory is determined and calculated according to the trajectory type. round and how to calculate the center of the circle;

[0107] The radius R of the transition arc trajectory is calculated by the calculation method round and the center O round .

[0108] Specifically, there is a one-to-one correspondence between each trajectory type and the calculation method, that is, after the trajectory type is obtained, the calculation method corresponding to the trajectory type can be determined.

[0109] Specifically, the continuous trajectory includes two continuous motion trajectories. The calculation methods corresponding to different trajectory types are as follows:

[0110] See also Figure 3 As shown, when both motion trajectories are straight line trajectories, the calculation method is as follows: Take the midpoint m of the line segment p1p2, then L t =turnPosp1=turnPosp2,L c = turnPosm, where turnPosp1 represents the vector of the turning point turnPos pointing to the intersection point p1, turnPosp2 represents the vector of the turning point turnPos pointing to the intersection point p2, and turnPosm represents the vector of the turning point turnPos pointing to the midpoint m; under the premise of the maximum accuracy value Acc, set the center O round is a point on the angle bisector, and the line segment Oround p1 is perpendicular to the line segment turnPosp1, line segment O round p2 is perpendicular to the line segment turnPosp2, establishing RtΔO round p1turnPos and RtΔO round p2turnPos, where O round turnPos is RtΔO round p1turnPos and RtΔO round The common hypotenuse of p2turnPos, the right-angle side O round p1=right angle side O round p2 = radius R round , so we can get ∠O round turnPosp1=∠O round turnPosp2=0.5β, according to the formula Calculate the radius R round The value and center O round The coordinates of the above formula, the coefficient

[0111] See also Figure 4 As shown in the figure, when the two motion trajectories are respectively the first motion trajectory is a straight line trajectory and the second motion trajectory is an arc trajectory, the calculation method is as follows: take the distance l from the end point on the straight line trajectory e1 is the point ipoE of the set value (such as 1 unit), and the angle ε is the deflection angle between the vector p2o2 and the vector p2p1, that is, ε = π-acos<p2o2,p2p1> , L t =||p1p2||, where p1p2 represents the vector from the intersection point p1 to the intersection point p2;

[0112] According to the distance formula, calculate the distance between point ipoE and the center of the arc trajectory o2(x ro2 ,y ro2 ) tr , then, determine the tangency relationship between the transition arc trajectory and the arc trajectory. If l tr >R, the transition arc trajectory is tangent to the arc trajectory, otherwise, the transition arc trajectory is tangent to the arc trajectory;

[0113] When the transition arc trajectory is tangent to the arc trajectory, according to the calculation formula Calculate the radius R of the transition arc trajectory round and the center O round ;

[0114] When the transition arc trajectory is inscribed with the arc trajectory, according to the calculation formula Calculate the radius R of the transition arc trajectory round and the center O round ;

[0115] In the above calculation formula, the coefficient

[0116] See also Figure 5 As shown, when the first segment of the motion trajectory is an arc trajectory and the second segment of the motion trajectory is a straight line trajectory, the calculation method is as follows: take the distance from the starting point l on the straight line trajectory s2 is the point ipoS of the set value (such as 1 unit), and the angle ε is the deflection angle between the vector p1o1 and the vector p1p2, that is, ε = acos<p1o1,p1p2> , L t =p1p2, where p1p2 represents the vector from the intersection point p1 to the intersection point p2;

[0117] According to the distance formula, calculate the distance between point ipoS and the center of the arc trajectory o1(x ro1 ,y ro1 ) tr , then, determine the tangency relationship between the transition arc trajectory and the arc trajectory. If l tr >R, the transition arc trajectory is tangent to the arc trajectory, otherwise, the transition arc trajectory is tangent to the arc trajectory;

[0118] When the transition arc trajectory is tangent to the arc trajectory, according to the calculation formula Calculate the radius R of the transition arc trajectory round and the center O round ;

[0119] When the transition arc trajectory is inscribed with the arc trajectory, according to the calculation formula Calculate the radius R of the transition arc trajectory round and the center O round ;

[0120] In the above calculation formula, the coefficient

[0121] See also Figure 6When both motion trajectories are arc trajectories, the calculation method is as follows: ipoS is taken as a point on the first arc trajectory whose distance from the inflection point is a set value (such as 1 unit), and ipoE is taken as a point on the second arc trajectory whose distance from the inflection point is a set value (such as 1 unit). According to the distance formula, the distance lr1 from the point ipoE to the center o1 of the first arc trajectory and the distance lr2 from the point ipoS to the center o2 of the second arc trajectory are calculated respectively, and the tangency relationship of the first arc trajectory or the second arc trajectory of the transition arc trajectory is judged. If the tangency relationship of the first arc trajectory of the transition arc trajectory is judged, if lr1>R1, the transition arc trajectory is tangent to the arc trajectory, otherwise, the transition arc trajectory is intangent to the arc trajectory; if the tangency relationship of the second arc trajectory of the transition arc trajectory is judged, if lr2>R2, the transition arc trajectory is tangent to the arc trajectory, otherwise, the transition arc trajectory is intangent to the arc trajectory.

[0122] First, obtain the angle β between the two motion trajectories (see below for the specific calculation process of the angle β);

[0123] When judging the tangency relationship of the first arc segment of the transition arc trajectory:

[0124] When the transition arc trajectory is tangent to the arc trajectory, according to the calculation formula Calculate the radius R of the transition arc trajectory round and the center O round ;

[0125] When the transition arc trajectory is inscribed with the arc trajectory, according to the calculation formula Calculate the radius R of the transition arc trajectory round and the center O round ;

[0126] In the above calculation formula, the coefficient

[0127] When judging the tangency relationship of the second arc segment of the transition arc trajectory:

[0128] When the transition arc trajectory is tangent to the arc trajectory, according to the calculation formula Calculate the radius R of the transition arc trajectory round and the center O round ;

[0129] When the transition arc trajectory is inscribed with the arc trajectory, according to the calculation formula Calculate the radius R of the transition arc trajectory round and the center O round ;

[0130] In the above calculation formula, the coefficient

[0131] In some optional implementations of this embodiment, in calculating the radius R of the transition arc trajectory according to the continuous trajectory data, round and the center O round After the step of passing through the intersection point p1, the intersection point p2, the radius R round and the center O round Before the step of combining to obtain the transition arc parameters, the method further includes:

[0132] Calculate O round p1 and O round p2 vector product, where O round p1 is the center of the circle O round The vector pointing to the intersection point p1, the O round p2 is the center O of the circle round A vector pointing to the intersection point p2;

[0133] Determine whether the vector product is greater than 0, and obtain a determination result;

[0134] The trajectory direction of the transition arc trajectory is determined according to the judgment result, wherein the trajectory direction is clockwise or counterclockwise.

[0135] Specifically, according to Determine the trajectory direction of the transition arc trajectory. If the vector product is less than or equal to 0, determine that the trajectory direction of the transition arc trajectory is clockwise. If the vector product is greater than 0, determine that the trajectory direction of the transition arc trajectory is counterclockwise.

[0136] In some optional implementations of this embodiment, before the step of obtaining the continuous trajectory data of the transition arc trajectory to be interpolated, the step further includes:

[0137] Acquire continuous trajectory data from a trajectory set, wherein the trajectory set includes a plurality of sets of the continuous trajectory data;

[0138] Calculating the turning angle β between the continuous trajectories according to the continuous trajectory data;

[0139] Whether the transition arc trajectory needs to be interpolated is determined based on whether the corner β satisfies a preset value.

[0140] Specifically, the continuous trajectory data of the arc trajectory to be interpolated is obtained from the compiler, specifically, the trajectory information in the NC code is written into the trajectory data in sequence through the coordinate conversion function. Compared with the forward-looking trajectory pre-reading, the compiler is not limited by the kernel clock interrupt, ensuring that the trajectory data obtained each time is complete graphic contour data.

[0141] The above-mentioned continuous trajectory data includes trajectory parameters and trajectory types, wherein the trajectory parameters include parameters of the starting point coordinates and the end point coordinates of the trajectory. If the trajectory is an arc trajectory, the trajectory parameters also include parameters of the center coordinates and the radius, and the trajectory type is a straight line trajectory or an arc trajectory. If the continuous trajectory includes two continuous motion trajectories, according to the trajectory type, the first motion trajectory can be a straight line trajectory or an arc trajectory, and the second motion trajectory can be a straight line trajectory or an arc trajectory. The corresponding calculation method is adopted according to the continuous trajectories of different trajectory types to ensure that the final transition arc trajectory can smoothly transition between the continuous trajectories.

[0142] In some optional implementations of this embodiment, the step of calculating the angle β between consecutive trajectories includes:

[0143] Calculate the unit vector vec1 and the unit vector vec2 of the continuous trajectory according to the continuous trajectory data;

[0144] The angle β between the unit vector vec1 and the unit vector vec2 is calculated by an arc cosine function.

[0145] Specifically, the continuous trajectory includes two consecutive motion trajectories. When the first motion trajectory is a straight line trajectory, take the calculation of the first motion trajectory as an example: s1 (x ls1 ,y ls1 ) and l e1 (x le1 ,y le1 ) represent the starting point and end point of the G01 trajectory respectively, then the turning point of the corner turnPos=l e1 , L1 represents the length of the straight line trajectory, then the unit vector of the straight line trajectory is:

[0146] Similarly, the unit vector vec2 of the second motion trajectory is calculated in the above manner.

[0147] When the continuous trajectory is an arc trajectory, take the calculation of the first motion trajectory as an example: Get the end point c of the arc trajectory e1 (x re1 ,y re1 ) and the center o1(x ro1 ,y ro1 ), then the turning point of the corner turnPos = c e1 , let the radius of the arc trajectory be R1, then the end point c e1 (x re1 ,y re1 ) to the center o1(x ro1 ,y ro1 )The unit vector vecR1 is:

[0148] According to the property that the dot product of two perpendicular vectors is 0, that is, vecR1·vec1=0, where vec1 is the unit vector in the tangential direction of the end point of the arc trajectory, then the modulus of vec1 |vec1|=x c1 2 +y c1 2 =1, according to the characteristic that the dot product of two perpendicular vectors is 0, solve the vector vect1 and vector vect2 perpendicular to the unit vector, where vector vect1 and vector vect2 are equal in size and opposite in direction.

[0149] Furthermore, take the point ref1(x f1 ,y f1 ) is the distance c from the end point on the arc trajectory e1 (x re1 ,y re1 ) is a set value (such as 1 unit), calculate the end point c e1 Direction vector tmp1 to point ref1: tmp1 = ref1 - c re1 =(x f1 -x re1 ,y f1 -y re1 );

[0150] Calculate the vector angle β1=acos(tmp1,vect1) between vector tmp1 and vector vect1, and calculate the vector angle β2=acos(tmp1,vect2) between vector tmp1 and vector vect2. According to the formula Determine the vector vec1. Specifically, when the vector angle β1=acos(tmp1,vect1) is less than the vector angle β2=acos(tmp1,vect2), the vector vect1 is used as the vector vec1. When the vector angle β1=acos(tmp1,vect1) is greater than or equal to the vector angle β2=acos(tmp1,vect2), the vector vect2 is used as the vector vec1.

[0151] Similarly, the vector vec2 of the second motion trajectory is calculated in the above manner.

[0152] In some optional implementations of this embodiment, the step of judging whether it is necessary to interpolate the transition arc trajectory according to the result of whether the corner β satisfies a preset value includes:

[0153] Determine whether the turning angle β is equal to π, wherein the preset value is π;

[0154] When the turning angle β is equal to π, there is no need to interpolate the transition arc trajectory between the continuous trajectories;

[0155] When the turning angle β is not equal to π, the transition arc trajectory needs to be interpolated between the continuous trajectories.

[0156] Specifically, the continuous trajectory includes two continuous motion trajectories. By judging the relationship between the corner β and π, it is judged whether the two continuous motion trajectories are tangent at the corner connection. When the angle β is equal to π, it means that the two trajectories are tangent at the corner connection, and there is no need to interpolate the transition arc trajectory. When the angle β is not equal to π, it means that the two trajectories are not tangent at the corner connection, and the transition arc trajectory needs to be interpolated.

[0157] Further references Figure 7 , as a response to the above Figure 2 In order to realize the method shown in the figure, the present application provides an embodiment of a transition arc processing device for laser cutting, and the device embodiment is similar to Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0158] like Figure 7 As shown, the transition arc processing device 300 for laser cutting described in this embodiment includes: a first acquisition module 301, a first calculation module 302, a second calculation module 303, a third calculation module 304 and a queue output module 305. Among them:

[0159] The first acquisition module 301 is used to acquire continuous trajectory data of the transition arc trajectory to be interpolated;

[0160] A first calculation module 302, used to calculate theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data;

[0161] A second calculation module 303 is used to compare the theoretical limit value with the preset limit value, and take the minimum limit value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, wherein the maximum accuracy value Acc is the limit value for the transition arc trajectory to smoothly transition between continuous trajectories;

[0162] A third calculation module 304 is used to calculate the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data; and

[0163] The queue output module 305 is used to construct a trajectory queue according to the continuous trajectory data and transition arc parameters, and output the trajectory queue.

[0164] This application first calculates the theoretical limit values ​​of the starting point and end point of the transition arc trajectory, then compares the theoretical limit value with the preset limit value, takes the minimum value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, and then calculates the transition arc parameters based on the constraint of the maximum accuracy value Acc, so that the obtained transition arc trajectory is within the maximum accuracy value Acc of the continuous trajectory, thereby achieving a smooth transition of the transition arc trajectory between continuous trajectories and improving cutting efficiency and cutting accuracy.

[0165] In some optional implementations of this embodiment, the first calculation module 302 includes a coordinate calculation submodule, a vertical line acquisition submodule, a distance calculation submodule, and a limit value calculation submodule; wherein:

[0166] A coordinate calculation submodule, used to calculate the coordinates of the limit point ipo1 at the starting point of the transition arc trajectory and the coordinates of the limit point ipo2 at the end point according to the continuous trajectory data;

[0167] The vertical line acquisition submodule is used to obtain the angle bisector of the angle β between the continuous tracks and obtain the vertical line L perpendicular to the angle bisector ⊥ , where the vertical line L ⊥ Passing through the turning point turnPos of the continuous trajectory;

[0168] The distance calculation submodule is used to calculate the distance from the limit point ipo1 to the vertical line L according to the distance formula. ⊥ The distance d1 and the limit point ipo2 to the vertical line L ⊥ The distance d1 is the theoretical limit value of the starting point of the transition arc trajectory, and the distance d2 is the theoretical limit value of the end point of the transition arc trajectory;

[0169] The limit value calculation submodule is used to calculate the maximum accuracy value Acc according to the formula Acc=min(d1, d2, setAcc), where the setAcc in the formula is a preset limit value.

[0170] In some optional implementations of this embodiment, the above-mentioned coordinate calculation submodule includes a first coordinate calculation unit and a second coordinate calculation unit.

[0171] A first coordinate calculation unit, for obtaining midpoint data corresponding to the midpoint of the straight track when the Nth track in the continuous track is a straight track, and calculating the coordinates of the limit point ipo1 or the limit point ipo2 according to the midpoint data, wherein N≥1;

[0172] The second coordinate calculation unit is used to calculate the center angle θ of the arc trajectory according to the continuous trajectory data when the Mth segment of the continuous trajectory is an arc trajectory. c, where M≥1; used to obtain the arc trajectory except the turning point turnPos and the vertical line L ⊥ The intersection point crossPos of the circular arc trajectory is obtained, and the arc segment trajectory between the intersection point crossPos and the end point of the circular arc trajectory is obtained, and the center angle θ corresponding to the circular arc segment trajectory is calculated. p ; Compare the center angle θ according to the preset conditions c and the central angle θ p , obtain a comparison result; determine the coordinates of the limit point ipo1 or the coordinates of the limit point ipo2 according to the comparison result.

[0173] In some optional implementations of this embodiment, the third calculation module 303 includes a translation submodule, a parameter calculation submodule and a merging module; wherein:

[0174] The translation submodule is used to translate the vertical line L according to a preset translation value. ⊥ Translate along the preset direction to obtain the vertical line L ⊥ The intersection points p1 and p2 with the continuous trajectory;

[0175] A parameter calculation submodule is used to calculate the radius R of the transition arc trajectory according to the continuous trajectory data, using the intersection point p1 as the starting point of the transition arc trajectory and the intersection point p2 as the end point of the transition arc trajectory according to the maximum accuracy value Acc. round and the center O round ;

[0176] A merging module is used to pass through the intersection point p1, the intersection point p2, and the radius R round and the center O round The transition arc parameters are obtained by merging.

[0177] In some optional implementations of this embodiment, the parameter calculation submodule includes a trajectory type acquisition unit, a calculation method determination unit, and a parameter calculation unit; wherein:

[0178] A trajectory type acquisition unit, used to acquire a trajectory type in the continuous trajectory data, wherein the trajectory type is a continuous trajectory of two straight line trajectories, a continuous trajectory of a straight line trajectory and a circular arc trajectory, or a continuous trajectory of two circular arc trajectories;

[0179] A calculation method determination unit, used to determine and calculate the radius R of the transition arc trajectory according to the trajectory type. round and how to calculate the center of the circle;

[0180] A parameter calculation unit, used to calculate the radius R of the transition arc trajectory by the calculation method round and the center Oround .

[0181] In some optional implementations of this embodiment, a vector product calculation module, a first judgment module and a trajectory direction determination module are further included; wherein:

[0182] Vector product calculation module, used to calculate O round p1 and O round p2 vector product, where O round p1 is the center of the circle O round The vector pointing to the intersection point p1, the O round p2 is the center O of the circle round A vector pointing to the intersection point p2;

[0183] A first judgment module, used to judge whether the vector product is greater than 0, and obtain a judgment result;

[0184] The trajectory direction determination module is used to determine the trajectory direction of the transition arc trajectory according to the judgment result, wherein the trajectory direction is clockwise or counterclockwise.

[0185] In some optional implementations of this embodiment, a second acquisition module, a corner calculation module and a second judgment module are also included.

[0186] A second acquisition module, configured to acquire continuous trajectory data from a trajectory set, wherein the trajectory set includes a plurality of groups of the continuous trajectory data;

[0187] A corner calculation module, used for calculating a corner β between continuous trajectories according to the continuous trajectory data;

[0188] The second judgment module is used to judge whether the transition arc trajectory needs to be interpolated according to whether the turning angle β satisfies a preset value.

[0189] In some optional implementations of this embodiment, the above-mentioned corner calculation module includes a unit vector calculation submodule and a corner calculation submodule.

[0190] A unit vector calculation submodule, used for calculating the unit vector vec1 and the unit vector vec2 of the continuous trajectory according to the continuous trajectory data;

[0191] The corner calculation submodule is used to calculate the angle β between the unit vector vec1 and the unit vector vec2 by using an inverse cosine function.

[0192] In some optional implementations of this embodiment, the second judgment module includes a judgment submodule, a non-interpolation submodule and an interpolation submodule.

[0193] A judging submodule, used for judging whether the turning angle β is equal to π, wherein the preset value is π;

[0194] A non-interpolation submodule, used for not interpolating the transition arc trajectory between the continuous trajectories when the turning angle β is equal to π;

[0195] The interpolation submodule is used to interpolate the transition arc trajectory between the continuous trajectories when the turning angle β is not equal to π.

[0196] To solve the above technical problems, the present application also provides a computer device. Figure 8 , Figure 8 This is a basic structural block diagram of the computer device in this embodiment.

[0197] The computer device 4 includes a memory 41, a processor 42, and a network interface 43 that are interconnected through a system bus. It should be noted that the figure only shows a computer device 4 with components 41-43, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0198] The computer device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The computer device may interact with a user through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device.

[0199] The memory 41 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 41 can be an internal storage unit of the computer device 4, such as a hard disk or memory of the computer device 4. In other embodiments, the memory 41 can also be an external storage device of the computer device 4, such as a plug-in hard disk equipped on the computer device 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Of course, the memory 41 can also include both the internal storage unit of the computer device 4 and its external storage device. In this embodiment, the memory 41 is generally used to store the operating system and various application software installed on the computer device 4, such as computer-readable instructions of the transition arc processing method of laser cutting, etc. In addition, the memory 41 can also be used to temporarily store various types of data that have been output or are to be output.

[0200] The processor 42 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments. The processor 42 is generally used to control the overall operation of the computer device 4. In this embodiment, the processor 42 is used to run the computer-readable instructions or process data stored in the memory 41, such as running the computer-readable instructions of the transition arc processing method of the laser cutting.

[0201] The network interface 43 may include a wireless network interface or a wired network interface. The network interface 43 is generally used to establish a communication connection between the computer device 4 and other electronic devices.

[0202] This application first calculates the theoretical limit values ​​of the starting point and end point of the transition arc trajectory, then compares the theoretical limit value with the preset limit value, takes the minimum value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, and then calculates the transition arc parameters based on the constraint of the maximum accuracy value Acc, so that the obtained transition arc trajectory is within the maximum accuracy value Acc of the continuous trajectory, thereby achieving a smooth transition of the transition arc trajectory between continuous trajectories and improving cutting efficiency and cutting accuracy.

[0203] The present application also provides another embodiment, namely, providing a computer-readable storage medium, which stores computer-readable instructions, and the computer-readable instructions can be executed by at least one processor to enable the at least one processor to perform the steps of the transition arc processing method for laser cutting as described above.

[0204] This application first calculates the theoretical limit values ​​of the starting point and end point of the transition arc trajectory, then compares the theoretical limit value with the preset limit value, takes the minimum value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, and then calculates the transition arc parameters based on the constraint of the maximum accuracy value Acc, so that the obtained transition arc trajectory is within the maximum accuracy value Acc of the continuous trajectory, thereby achieving a smooth transition of the transition arc trajectory between continuous trajectories and improving cutting efficiency and cutting accuracy.

[0205] 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 a necessary general hardware platform, and of course 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), and includes a number of instructions for 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.

[0206] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A transition arc processing method for laser cutting, characterized in that: The steps include: Obtain the continuous trajectory data of the transition arc trajectory to be interpolated; Calculating theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data; The theoretical limit value is compared with the preset limit value, and the minimum limit value between the theoretical limit value and the preset limit value is used as the maximum accuracy value Acc, wherein the maximum accuracy value Acc is the limit value for the smooth transition of the transition arc trajectory between continuous trajectories; Calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data; Constructing a trajectory queue according to the continuous trajectory data and the transition arc parameters, and outputting the trajectory queue; The step of calculating the theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data comprises: According to the continuous trajectory data, the coordinates of the limit point ipo1 at the starting point of the transition arc trajectory and the coordinates of the limit point ipo2 at the end point are calculated; Obtain the angle bisector of the angle β between the continuous trajectories, and obtain the perpendicular line L perpendicular to the angle bisector ⊥ , where the vertical line L ⊥ Passing through the turning point turnPos of the continuous trajectory; Calculate the distance from the limit point ipo1 to the vertical line L according to the distance formula ⊥ The distance d1 and the limit point ipo2 to the vertical line L ⊥ The distance d1 is the theoretical limit value of the starting point of the transition arc trajectory, and the distance d2 is the theoretical limit value of the end point of the transition arc trajectory; The step of calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data comprises: According to the preset translation value, the vertical line L ⊥ Translate along the preset direction to obtain the vertical line L ⊥ The intersection points p1 and p2 with the continuous trajectory; According to the maximum accuracy value Acc, the intersection point p1 is used as the starting point of the transition arc trajectory, and the intersection point p2 is used as the end point of the transition arc trajectory. The radius R of the transition arc trajectory is calculated according to the continuous trajectory data. round and the center O round ; Through the intersection point p1, the intersection point p2, the radius R round and the center O round The transition arc parameters are obtained by merging.

2. The method for processing transition arcs in laser cutting according to claim 1, characterized in that: The step of calculating the coordinates of the limit point ipo1 at the starting point of the transition arc trajectory and the coordinates of the limit point ipo2 at the end point according to the continuous trajectory data comprises: Step A1, when the Nth segment of the continuous trajectory is a straight trajectory, obtain the midpoint data corresponding to the midpoint of the straight trajectory, and calculate the coordinates of the limit point ipo1 or the coordinates of the limit point ipo2 according to the midpoint data, where N≥1; Step A2: when the Mth segment of the continuous trajectory is a circular arc trajectory, the center angle θ of the circular arc trajectory is calculated according to the continuous trajectory data. c , where M ≥ 1; Get the arc trajectory except the turning point turnPos and the vertical line L ⊥ The intersection point crossPos of the circular arc trajectory is obtained, and the arc segment trajectory between the intersection point crossPos and the end point of the circular arc trajectory is obtained, and the center angle θ corresponding to the circular arc segment trajectory is calculated. p ; Compare the center angle θ according to the preset conditions c and the central angle θ p , get the comparison result; The coordinates of the limit point ipo1 or the coordinates of the limit point ipo2 are determined according to the comparison result.

3. The transition arc processing method for laser cutting according to claim 2, characterized in that: The radius R of the transition arc trajectory is calculated according to the continuous trajectory data. round and the center O round The steps include: Acquire a trajectory type in the continuous trajectory data, wherein the trajectory type is a continuous trajectory of two straight line trajectories, a continuous trajectory of a straight line trajectory and a circular arc trajectory, or a continuous trajectory of two circular arc trajectories; The radius R of the transition arc trajectory is determined and calculated according to the trajectory type. round and how to calculate the center of the circle; The radius R of the transition arc trajectory is calculated by the calculation method round and the center O round .

4. The method for processing transition arcs in laser cutting according to claim 2, characterized in that: In calculating the radius R of the transition arc trajectory according to the continuous trajectory data round and the center O round After the step of passing through the intersection point p1, the intersection point p2, the radius R round and the center O round Before the step of combining to obtain the transition arc parameters, the method further includes: Calculate O round p1 and O round p2 vector product, where O round p1 is the center of the circle O round The vector pointing to the intersection point p1, the O round p2 is the center of the circle O round A vector pointing to the intersection point p2; Determine whether the vector product is greater than 0, and obtain a determination result; The trajectory direction of the transition arc trajectory is determined according to the judgment result, wherein the trajectory direction is clockwise or counterclockwise.

5. The transition arc processing method for laser cutting according to any one of claims 1 to 4, characterized in that: Before the step of obtaining the continuous trajectory data of the transition arc trajectory to be interpolated, the method further includes: Acquire continuous trajectory data from a trajectory set, wherein the trajectory set includes a plurality of sets of the continuous trajectory data; Calculating the turning angle β between the continuous trajectories according to the continuous trajectory data; Whether the transition arc trajectory needs to be interpolated is determined based on whether the corner β satisfies a preset value.

6. The method for processing transition arcs in laser cutting according to claim 5, characterized in that: The step of calculating the angle β between consecutive trajectories comprises: Calculate the unit vector vec1 and the unit vector vec2 of the continuous trajectory according to the continuous trajectory data; The angle β between the unit vector vec1 and the unit vector vec2 is calculated by an arc cosine function.

7. The method for processing transition arcs in laser cutting according to claim 5, characterized in that: The step of judging whether it is necessary to interpolate the transition arc trajectory according to whether the corner β satisfies a preset value comprises: Determine whether the turning angle β is equal to π, wherein the preset value is π; When the turning angle β is equal to π, there is no need to interpolate the transition arc trajectory between the continuous trajectories; When the turning angle β is not equal to π, the transition arc trajectory needs to be interpolated between the continuous trajectories.

8. A transition arc processing device for laser cutting, characterized in that: include: A first acquisition module is used to acquire continuous trajectory data of a transition arc trajectory to be interpolated; A first calculation module, used for calculating theoretical limit values ​​of the starting point and the end point of the transition arc trajectory according to the continuous trajectory data; A second calculation module is used to compare the theoretical limit value with the preset limit value, and take the minimum limit value between the theoretical limit value and the preset limit value as the maximum accuracy value Acc, wherein the maximum accuracy value Acc is the limit value for the smooth transition of the transition arc trajectory between continuous trajectories; A third calculation module, used for calculating the transition arc parameters of the transition arc trajectory according to the maximum accuracy value Acc and the continuous trajectory data; and A queue output module, used for constructing a trajectory queue according to the continuous trajectory data and transition arc parameters, and outputting the trajectory queue; The first calculation module is specifically used to calculate the coordinates of the limit point ipo1 at the starting point of the transition arc trajectory and the coordinates of the limit point ipo2 at the end point according to the continuous trajectory data; obtain the angle bisector of the angle β between the continuous trajectories, and obtain the perpendicular line L perpendicular to the angle bisector ⊥ , where the vertical line L ⊥ Passing the turning point turnPos of the continuous trajectory; calculating the distance from the limit point ipo1 to the vertical line L according to the distance formula ⊥ The distance d1 and the limit point ipo2 to the vertical line L ⊥ The distance d1 is the theoretical limit value of the starting point of the transition arc trajectory, and the distance d2 is the theoretical limit value of the end point of the transition arc trajectory; The third calculation module is specifically used to convert the vertical line L ⊥ Translate along the preset direction to obtain the vertical line L ⊥ The intersection points p1 and p2 of the continuous trajectory are used; according to the maximum accuracy value Acc, the intersection point p1 is used as the starting point of the transition arc trajectory, and the intersection point p2 is used as the end point of the transition arc trajectory, and the radius R of the transition arc trajectory is calculated according to the continuous trajectory data. round and the center O round ; Through the intersection point p1, the intersection point p2, the radius R round and the center O round The transition arc parameters are obtained by merging.

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