Motion path planning method and device, machining equipment and storage medium

Abstract

The application is suitable for the technical field of path planning, and provides a motion path planning method, device, processing equipment and storage medium.The motion path planning method comprises the following steps: acquiring boundary line segments of each part pattern, wherein each part pattern is located at different positions; connecting an end point of a boundary line segment of one part pattern with an end point of a boundary line segment of another part pattern by using an inclined straight line segment, wherein the minimum included angle between the inclined straight line segment and the height direction is greater than 0° and less than 90°; and connecting the inclined straight line segment with at least part of the boundary line segments to form a closed envelope line capable of surrounding all the part patterns, so as to serve as a motion path of a processing device.The motion path planning method provided by the embodiment of the application can improve the efficiency of the processing device.

Description

Technical Field

[0001] This application belongs to the field of path planning technology, and in particular relates to a motion path planning method, device, processing equipment and storage medium. Background Technology

[0002] In the manufacturing industry, processing devices (such as laser head assemblies) need to perform processing (such as laser cutting or laser marking) at different locations on a sheet of material to produce multiple parts. Before processing each part, the processing device needs to move along a pre-defined path based on the location of each part to cut off excess material or mark edges on the sheet. Currently, the motion paths set for processing devices are quite complex, leading to reduced efficiency. Summary of the Invention

[0003] Embodiments of this application provide a motion path planning method, apparatus, processing equipment, and storage medium, which can improve the efficiency of the processing apparatus.

[0004] In a first aspect, embodiments of this application provide a motion path planning method, comprising:

[0005] Obtain the boundary line segments of each part graphic, wherein each part graphic is located at a different position;

[0006] The endpoints of the boundary line segments of one part graphic are connected to the endpoints of the boundary line segments of another part graphic by means of an inclined straight line segment, wherein the minimum angle between the inclined straight line segment and the height direction is greater than 0° and less than 90°.

[0007] The inclined straight line segment is connected to at least a portion of the boundary line segment to form a closed envelope that can surround all the part graphics, so as to serve as the motion path of the processing device.

[0008] Secondly, embodiments of this application provide a motion path planning device, comprising:

[0009] The boundary line segment acquisition module is used to: acquire the boundary line segments of each part graphic, wherein each part graphic is located at a different position;

[0010] A connection module is used to connect the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using an inclined straight line segment, wherein the minimum angle between the inclined straight line segment and the height direction is greater than 0° and less than 90°.

[0011] A closed module is used to connect the inclined straight line segment with at least a portion of the boundary line segments to form a closed envelope that can surround all the part graphics, so as to serve as the motion path of the processing device.

[0012] Thirdly, embodiments of this application provide a terminal device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the motion path planning method described in any one of the first aspects above.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the motion path planning method described in any one of the first aspects above.

[0014] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the motion path planning method described in any one of the first aspects.

[0015] The beneficial effects of the embodiments of this application are:

[0016] By connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic with inclined straight line segments, and connecting the aforementioned inclined straight line segments with at least a portion of the boundary line segments, a closed envelope that can surround all part graphics is formed, serving as the motion path of the processing device. Since the shortest distance between two points is a straight line, connecting the endpoints of one part graphic to the endpoints of another part graphic with inclined straight line segments results in a shorter motion path compared to connecting with broken line segments or curved segments. This allows the processing device to complete the path in a shorter time, thereby improving the efficiency of the processing device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of a motion path planning method provided in an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of a part drawing provided in an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of a motion path planning method provided in an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of a closed envelope provided in an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of a motion path planning method provided in another embodiment of this application;

[0023] Figure 6 This is a flowchart illustrating step A2 of the motion path planning method provided in an embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the upper and lower boundary line segments of a part drawing provided in an embodiment of this application;

[0025] Figure 8 This is a schematic diagram of the position of an inclined straight line provided in an embodiment of this application;

[0026] Figure 9 This is a flowchart illustrating step A2 of the motion path planning method provided in another embodiment of this application;

[0027] Figure 10 This is a schematic diagram of the minimum envelope rectangle of a part graphic provided in an embodiment of this application;

[0028] Figure 11 This is a schematic diagram of step A2 of the motion path planning method provided in an embodiment of this application;

[0029] Figure 12 This is a schematic diagram of step A2 of the motion path planning method provided in another embodiment of this application;

[0030] Figure 13 This is a flowchart illustrating step A2 of the motion path planning method provided in another embodiment of this application;

[0031] Figure 14 This is a schematic diagram of step A2 of the motion path planning method provided in another embodiment of this application;

[0032] Figure 15 This is a flowchart illustrating step A2 of the motion path planning method provided in another embodiment of this application;

[0033] Figure 16 This is a schematic diagram of step A2 of the motion path planning method provided in another embodiment of this application;

[0034] Figure 17 This is a flowchart illustrating step A2 of the motion path planning method provided in another embodiment of this application;

[0035] Figure 18 This is a schematic diagram of step A2 of the motion path planning method provided in another embodiment of this application;

[0036] Figure 19 This is a schematic diagram of the structure of a motion path planning device provided in an embodiment of this application;

[0037] Figure 20 This is a schematic diagram of the connection module of a motion path planning device provided in an embodiment of this application;

[0038] Figure 21 This is a schematic diagram of the connection module of a motion path planning device provided in another embodiment of this application;

[0039] Figure 22 This is a schematic diagram of the connection module of a motion path planning device provided in another embodiment of this application;

[0040] Figure 23 This is a schematic diagram of the connection module of a motion path planning device provided in another embodiment of this application;

[0041] Figure 24 This is a schematic diagram of the connection module of a motion path planning device provided in another embodiment of this application;

[0042] Figure 25 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Detailed Implementation

[0043] To make the technical problem to be solved, the technical solution and the beneficial effects of this application clearer, the following is in conjunction with the appendix. Figures 1 to 25 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

[0044] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0045] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0046] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0047] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0048] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0050] Embodiments of this application provide a motion path planning method, which can be used in processing equipment (such as laser processing equipment). Specifically, it can be used to plan the motion path of a processing device (such as a laser head assembly) of the processing equipment. The aforementioned motion path can be the path taken by the processing device when cutting excess material (such as sheet metal) or moving along a border.

[0051] Figure 1 This is a schematic flowchart of a motion path planning method provided in an embodiment of this application. (Reference) Figure 1 The motion path planning method provided in the embodiments of this application includes steps A1 to A3.

[0052] Step A1: Obtain the boundary line segments of each part graphic.

[0053] Figure 2 This is a schematic diagram of a part drawing provided in one embodiment of this application. (Reference) Figure 2 Part graphic 1 can be virtual, such as a graphic located in a computer system used to represent a part.

[0054] The various part figures are located in different positions. (Example, see reference) Figure 2Each part graphic 1 is located on the same two-dimensional plane, but the positions of each part graphic 1 on the aforementioned two-dimensional plane are different, and the part graphics 1 are distributed at intervals.

[0055] Part graphic 1 is a graphic used to represent a part, and it can be a rectangle that encloses the part. Multiple parts correspond to multiple rectangles.

[0056] Of course, depending on the actual situation, part drawing 1 can also be a triangle or a polygon with more than four sides, such as a pentagon, hexagon, heptagon or octagon.

[0057] The embodiments of this application will be described using a rectangular part graphic 1 as an example.

[0058] A rectangle is formed by connecting multiple line segments, which are the boundary segments of the rectangle.

[0059] Obtaining the boundary line segments of each part's graphic involves acquiring the geometric feature data of these boundary line segments. This geometric feature data includes the endpoint positions and orientations of the boundary line segments. This geometric feature data can be obtained from memory or through communication with an external computer.

[0060] Obtaining the boundary segments of each part graphic 1 can involve obtaining the upper and lower boundary segments of each part graphic. Specifically, the upper and lower boundary segments can be added to a collection.

[0061] Step A2: Connect the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using an inclined straight line segment. The minimum angle between the aforementioned inclined straight line segment and the height direction is greater than 0° and less than 90°.

[0062] Each boundary line segment has two endpoints; these endpoints are also the endpoints of the part graphic to which the boundary line segment belongs.

[0063] Figure 3 This is a schematic diagram of a motion path planning method provided in an embodiment of this application. (Reference) Figure 3 An inclined straight line segment 2 is used to connect the endpoints of the boundary line segments of one part graphic 1 to the endpoints of the boundary line segments of another part graphic 1, thereby connecting one part graphic to another with a straight line segment; wherein, the aforementioned inclined straight line segment 2 is subsequently used as part of the motion path of the processing device.

[0064] The inclined straight line segment 2 has two complementary angles with the height direction G. Among them, the reference... Figure 3 If the minimum angle α between the inclined straight line segment 2 and the height direction G is greater than 0° and less than 90°, it means that the inclined straight line segment 2 is neither perpendicular to nor parallel to the height direction G.

[0065] It should be understood that the height direction G is only relative to the position of part graphic 1, and can be a vertical direction; as the orientation of part graphic 1 changes, the height direction G can also be a horizontal direction.

[0066] Since the part graphics are distributed in different locations, the endpoints of the boundary line segments of one part graphic and the endpoints of the boundary line segments of another part graphic can be connected by broken line segments or curves, which would make the path between the two endpoints longer; the embodiments of this application use inclined straight line segments to connect the aforementioned two endpoints, which can shorten the path between the two endpoints.

[0067] Step A3: Connect the inclined straight line segment with at least a portion of the boundary line segment to form a closed envelope that can surround all part graphics, so as to serve as the motion path of the processing device.

[0068] The boundary line segment is the boundary of part graphic 1. In order to enclose all part graphics 1, the previously determined inclined straight line segment 2 is connected to the boundary line segment.

[0069] Figure 4 This is a schematic diagram of a closed envelope provided in an embodiment of this application. (See reference) Figure 4 Depending on the actual situation, connecting the inclined straight line segment 2 with the boundary line segment may not enclose all the part shapes (for example, the resulting geometric shape is an open loop). In order to enclose all the part shapes 1, two part shapes can be connected by vertical or horizontal line segments. The aforementioned vertical line segment 8 or horizontal line segment 9 can be the vertical or horizontal boundary line segment of part shape 1, thereby obtaining a closed envelope 3 that can enclose all the part shapes, which can be used as the movement path of the processing device.

[0070] After obtaining the closed envelope 3, the processing device moves along the closed envelope 3 to perform scrap cutting or edge trimming on the material (such as sheet metal).

[0071] As can be seen from the above, by connecting the endpoints of the boundary line segments of one part graphic with the endpoints of the boundary line segments of another part graphic through inclined straight line segments, and connecting the aforementioned inclined straight line segments with at least a portion of the boundary line segments to form a closed envelope that can surround all part graphics, this serves as the motion path of the processing device. Since the shortest distance between two points is a straight line, connecting the endpoints of one part graphic with the endpoints of another part graphic using inclined straight line segments, compared to connecting them with broken line segments or curved segments, results in a shorter motion path, thereby enabling the processing device to complete the path in a shorter time and improving the efficiency of the processing device.

[0072] refer to Figure 4The motion path planning method provided in the embodiments of this application yields a closed envelope containing inclined straight line segments. These inclined straight line segments give the closed envelope a slope shape. Therefore, the closed envelope is a slope envelope, which has a shorter path than a stepped envelope formed by connecting vertical and horizontal line segments.

[0073] Step A2 of the above embodiment (connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments) can specifically include:

[0074] refer to Figure 3 An inclined straight line segment 2 is used to connect the endpoint of the boundary line segment of one part shape 1 to the endpoint of the boundary line segment of another part shape 1 adjacent in the height direction G, such that the minimum turning angle at the endpoint of the inclined straight line segment 2 in the closed envelope 3 is greater than 90°.

[0075] Specifically, each part graphic 1 has multiple endpoints. The endpoints of two adjacent part graphics 1 in the height direction G are connected by an inclined straight line segment 2, which can ensure that the minimum corner at the endpoint is greater than 90°.

[0076] A stepped envelope formed by connecting vertical and horizontal line segments has a 90° angle at the connection point. In the closed envelope obtained in the embodiments of this application, the minimum angle at the endpoint of the inclined straight line segment is greater than 90°, that is, greater than the angle at the connection point of the stepped envelope. The larger the angle, the greater the moving speed of the processing device can be, which can further improve the processing efficiency of the processing device.

[0077] Step A2 of the above embodiment (connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments) may further include:

[0078] This minimizes the distance of the inclined straight line segment 2.

[0079] Figure 5 This is a schematic diagram of a motion path planning method provided in another embodiment of this application. (Reference) Figure 5 Specifically, by connecting the two endpoints of the boundary line segments of the two part shapes 1 that are closest to each other with an inclined straight line segment 2, the distance of the aforementioned inclined straight line segment 2 can be minimized. This can make the area of ​​the closed envelope as small as possible, thereby saving materials.

[0080] In some other embodiments, the two endpoints of the boundary line segments of the two part graphics 1 that are longest apart can be connected by an inclined straight line segment 2. Since the straight line between two points is the shortest, this can make the movement path of the processing device the shortest and further improve the processing efficiency of the processing device.

[0081] Figure 6 This is a flowchart illustrating step A2 of the motion path planning method provided in an embodiment of this application. Referring to 6, step A2 of the above embodiment (connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments) may specifically include steps A21 and A22.

[0082] Step A21: Determine the highest boundary segment in the height direction.

[0083] Figure 7 This is a schematic diagram of the upper and lower boundary line segments of a part drawing provided in an embodiment of this application. (Reference) Figure 7 Since there are multiple part graphics 1, there are multiple boundary line segments.

[0084] refer to Figure 7 In the height direction G, the highest boundary segment 11 can be determined, and this boundary segment is used as a reference.

[0085] For example, after obtaining the upper and lower boundary segments, the upper and lower boundary segments can be placed in the upper and lower boundary set {B} and sorted by size, such as sorting them from largest to smallest according to the height direction G (also known as the Y-axis). This makes it easier to determine the boundary segment 11 with the highest position in the height direction G.

[0086] Figure 8 This is a schematic diagram of the position of an inclined straight line provided in an embodiment of this application.

[0087] Step A22: Connect the endpoint of the boundary line segment of one part shape 1 to the endpoint of the boundary line segment of another part shape 1 adjacent in the height direction G using inclined straight line segment 2, such that the minimum turning angle at the endpoint of the inclined straight line segment 2 in the closed envelope 3 is greater than 90°. (Refer to...) Figure 8 And such that the two endpoints of the inclined straight line segment 2 are located on the same side of the first side endpoint of the highest boundary line segment 11.

[0088] The minimum turning angle at the endpoint of inclined straight segment 2 is greater than 90°. The larger the turning angle, the greater the moving speed of the processing device can be, which can further improve the processing efficiency of the processing device.

[0089] Figure 9 This is a flowchart illustrating step A2 of the motion path planning method provided in another embodiment of this application. (See reference) Figure 9 Step A2 in the above embodiment (connecting the endpoint of the boundary line segment of one part graphic to the endpoint of the boundary line segment of another part graphic using an inclined straight line segment) may specifically include steps A21' to A23'.

[0090] Step A21': Obtain the first envelope boundary line segment 41 with the highest position in the height direction G. The aforementioned first envelope boundary line segment 41 is the side of the smallest envelope rectangle 4 of all part graphics 1.

[0091] Figure 10 This is a schematic diagram of the minimum envelope rectangle of a part graphic provided in an embodiment of this application. (Reference) Figure 10 Specifically, all part figures 1 located on the same plane can be enclosed by a rectangle. When the four sides of the rectangle coincide with the sides of the part figures, the resulting rectangle is the minimum enclosing rectangle 4.

[0092] The edge with the highest position in the height direction G of the minimum envelope rectangle 4 is taken as the first envelope boundary segment 41.

[0093] Step A22': Using the first side endpoint 111 of the boundary line segment 11 with the highest position in the height direction G, cut off the first envelope boundary line segment 41 and retain the remaining first envelope boundary line segment on the first side to obtain the remaining first envelope line segment 41' on the first side.

[0094] Specifically, after obtaining the boundary segments of each part graphic 1, the boundary segments of each part graphic 1 in the height direction G are determined, and then the highest boundary segment 11 is determined from these boundary segments. As mentioned earlier, the highest boundary segment 11 can be determined from the upper and lower boundary set {B}.

[0095] The highest boundary segment 11 has two endpoints, namely the first side endpoint 111 and the second side endpoint 112.

[0096] Figure 11 This is a schematic diagram illustrating step A2 of the motion path planning method provided in an embodiment of this application. (Reference) Figure 11 The first envelope boundary segment 41 is cut off by the first side endpoint 111 and the remaining first envelope boundary segment located on the first side is retained to obtain the remaining first envelope segment 41' on the first side.

[0097] Step A23': Shift the remaining first envelope segment 41' of the first side downwards along the height direction G to the next boundary segment 12. If the remaining first envelope segment 41' of the first side coincides with at least a part of the next boundary segment 12, then cut off the remaining first envelope segment 41' of the first side from the first end point of the next boundary segment 12 and retain the remaining first envelope segment 41' of the first side located on the first side. Connect one end point of the next boundary segment 12 to the first end point of the previous boundary segment 11 with an inclined straight line segment 2B. Repeat the above operation for the remaining first envelope segment 41' of the first side located on the first side until the length of the remaining first envelope segment 41' of the first side is zero.

[0098] If the remaining first envelope segment 41' on the first side does not overlap with the next boundary segment 12, then skip the current next boundary segment 12 and continue to translate downwards until translating to the next boundary segment with overlapping parts.

[0099] The aforementioned inclined line 2B can subsequently serve as the upper left boundary of the closed envelope 3. Therefore, the aforementioned inclined line 2B can be added to the beginning of the upper left bound set {K1}. It should be understood that the upper left bound set {K1} contains one or more inclined lines 2B.

[0100] refer to Figure 11 The step A23' above, which connects one endpoint of the next boundary line segment to the first side endpoint of the previous boundary line segment with an inclined straight line segment, may specifically include: connecting the specified side endpoint of the next boundary line segment 13 to the first side endpoint 111 of the previous boundary line segment 11 with an inclined straight line segment 2B, wherein the specified side endpoint is located on the first side of the first side endpoint 111 of the previous boundary line segment 11.

[0101] Figure 12 This is a schematic diagram of step A2 of the motion path planning method provided in another embodiment of this application. (See reference) Figure 12 The next boundary segment 12 has two endpoints. If both endpoints of the next boundary segment 12 are located on the first side of the first side endpoint 111, then the endpoint closest to the first side endpoint 111 is taken as the aforementioned designated side endpoint. In this case, the inclined straight line segment 2B and the next boundary segment 12 can be taken as the upper left boundary of the closed envelope 3 and added to the front of the upper left boundary set {K1}. This can minimize the distance of the aforementioned inclined straight line segment 2, thereby minimizing the area of ​​the closed envelope and saving materials.

[0102] The above step A3 (connecting the inclined straight line segment with at least a portion of the boundary line segments to form a closed envelope that can surround all part graphics) may specifically include: if the remaining first envelope line segment 41' on the first side coincides with all parts of the next boundary line segment 12, then connect the inclined straight line segment 2 with the next boundary line segment 12 to form a closed envelope 3 that can surround all part graphics.

[0103] Example, reference Figure 11 The X-axis coordinates of the two endpoints of the next boundary line segment 12 are X1 and X2, where X1 is the X-axis coordinate of the endpoint on the first side and X2 is the X-axis coordinate of the endpoint on the second side; the X-axis coordinate of the endpoint 111 on the first side is X3.

[0104] refer to Figure 12, if X1 < X2 < X3, that is, both endpoints of the lower boundary line segment 12 are located on the first side (i.e., the left side) of the first side endpoint 111, move the remaining first envelope line segment 41' on the first side downward to the lower boundary line segment 12, and truncate the right side of the remaining first envelope line segment 41' on the first side at X1, retaining the remaining first envelope line segment 41' on the left side. Connect the endpoint of the lower boundary line segment 12 where X2 is located to the first side endpoint 111 of the upper boundary line segment 11 with an inclined straight line segment 2B, and add the inclined straight line segment 2B and the lower boundary line segment 12 to the front of the upper left boundary set {K1} so that the inclined straight line segment 2 is connected to the lower boundary line segment 12 to form a closed envelope line 3 that can enclose all part graphics.

[0105] Reference Figure 11 , if X2 > X3 > X1, move the remaining first envelope line segment 41' on the first side downward to the lower boundary line segment 13, and truncate the right side of the remaining first envelope line segment 41' on the first side at X1, retaining the remaining first envelope line segment 41' on the left side. Connect the endpoint of the lower boundary line segment 12 where X1 is located to the first side endpoint 111 of the upper boundary line segment 11 with an inclined straight line segment 2B, and add the inclined straight line segment 2B to the front of the upper left boundary set {K1}. Repeat the foregoing operations for the remaining first envelope line segment 41' on the first side until the length of the remaining first envelope line segment 41' on the first side is zero, thereby obtaining the complete upper left boundary set {K1}.

[0106] Figure 13 is a schematic flowchart of step A2 of the motion path planning method provided by another embodiment of the present application. Reference Figure 13 , step A2 of the above embodiment (connecting the endpoints of the boundary line segments of one part graphic with the endpoints of the boundary line segments of another part graphic with an inclined straight line segment) may further include step A24' and step A25'.

[0107] Step A24': Use the second side endpoint 112 of the boundary line segment 11 with the highest position in the height direction G to truncate the first envelope boundary line segment 41 and retain the remaining first envelope boundary line segment on the second side, obtaining the remaining first envelope line segment 41" on the second side.

[0108] Figure 14 is a schematic diagram of step A2 of the motion path planning method provided by another embodiment of the present application. Reference Figure 14 , as described above, the boundary line segment 11 with the highest position has a second side endpoint 112.

[0109] Reference Figure 14 , use the second side endpoint 112 to truncate the first envelope boundary line segment 41 and retain the remaining first envelope boundary line segment 41 on the second side, obtaining the remaining first envelope line segment 41" on the second side.

[0110] Step A25': Shift the remaining second-side envelope segment 41” downwards along the height direction G to the next boundary segment 13. If the remaining second-side first envelope segment 41” coincides with at least a portion of the next boundary segment 13, then cut off the remaining second-side first envelope segment 41” from the second-side endpoint of the next boundary segment 13 and retain the remaining second-side first envelope segment 41” located on the second side. Connect one endpoint of the next boundary segment 13 to the second-side endpoint of the previous boundary segment 11 using an inclined straight line segment 2C. Repeat the aforementioned operation on the remaining second-side first envelope segment 41” located on the second side until the length of the remaining remaining second-side first envelope segment 41” is zero.

[0111] If the remaining first envelope segment 41” on the second side does not overlap with the next boundary segment 13, then skip the current next boundary segment 13 and continue to translate downwards until the next boundary segment with overlapping parts is translated.

[0112] The aforementioned inclined line 2C can subsequently serve as the upper right boundary of the closed envelope 3. Therefore, the aforementioned inclined line 2C can be added to the beginning of the upper right bound set {K3}. It should be understood that the upper right bound set {K3} contains one or more inclined lines 2C.

[0113] Figure 15 This is a flowchart illustrating step A2 of the motion path planning method provided in another embodiment of this application. (See reference) Figure 15 Step A2 of the above embodiment (connecting the endpoint of the boundary line segment of one part graphic to the endpoint of the boundary line segment of another part graphic with an inclined straight line segment) may also include steps A21” to A23”.

[0114] Step A21”: Obtain the second envelope boundary line segment 42 with the lowest position in the height direction G. The aforementioned second envelope boundary line segment 42 is the side of the minimum envelope rectangle 4.

[0115] As mentioned earlier, all part figures 1 located on the same plane can be enveloped by a minimum envelope rectangle 4.

[0116] The lowest edge of the minimum envelope rectangle 4 in the height direction G is taken as the second envelope boundary segment 42.

[0117] Step A22”: Using the first end point of the boundary segment 42 with the lowest position in the height direction G, cut off the second envelope boundary segment 42 and retain the remaining second envelope boundary segment on the first side to obtain the remaining second envelope segment 42' on the first side.

[0118] Figure 16 This is a schematic diagram illustrating step A2 of the motion path planning method provided in another embodiment of this application. (See reference) Figure 16As mentioned earlier, after determining the boundaries of each part graphic 1 in the height direction G, the lowest boundary segment 14 is determined from these boundary segments. Specifically, the lowest boundary segment 14 can be determined from the upper and lower boundary set {B}.

[0119] refer to Figure 16 The lowest boundary segment 14 also has two endpoints, namely the first side endpoint 141 and the second side endpoint 142.

[0120] refer to Figure 16 The second envelope boundary segment 42 is cut off by the first side endpoint 141 and the remaining second envelope boundary segment located on the first side is retained to obtain the remaining second envelope segment 42' on the first side.

[0121] Step A23”: Translate the remaining second envelope segment 42’ on the first side upward along the height direction G to the next boundary segment 15. If the remaining second envelope segment 42’ on the first side coincides with at least a part of the next boundary segment 15, then cut off the remaining second envelope segment 42’ on the first side from the first side endpoint 151 of the next boundary segment 15 and retain the remaining second envelope segment 42’ on the first side. Connect one endpoint of the next boundary segment 15 to the first side endpoint of the previous boundary segment 14 with an inclined straight line segment 2D. Repeat the above operation for the remaining second envelope segment 42’ on the first side until the length of the remaining second envelope segment on the first side is zero.

[0122] If the remaining second envelope segment 42' on the first side does not overlap with the next boundary segment 15, then skip the current next boundary segment 15 and continue to move upward until the next boundary segment with overlapping parts is reached.

[0123] The aforementioned inclined line 2D can subsequently serve as the lower left boundary of the closed envelope 3. Therefore, the aforementioned inclined line 2D can be added to the beginning of the lower left bound set {K4}. It should be understood that the lower left bound set {K4} contains one or more inclined lines 2D.

[0124] Figure 17 This is a flowchart illustrating step A2 of the motion path planning method provided in another embodiment of this application. (See reference) Figure 17 The above embodiment's step A2 (connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments) may further include steps A24 and A25.

[0125] Step A24”: Using the second side endpoint 142 of the boundary line segment 14 with the lowest position in the height direction G, cut off the second envelope boundary line segment 42 and retain the remaining second envelope boundary line segment located on the second side to obtain the remaining second envelope line segment 42 on the second side.

[0126] Figure 18 This is a schematic diagram illustrating step A2 of the motion path planning method provided in another embodiment of this application. (See reference) Figure 18 As previously mentioned, the lowest boundary segment 14 has a second side endpoint 142.

[0127] The second envelope boundary segment 42 is cut off by the second side endpoint 142 and the remaining second envelope boundary segment located on the second side is retained to obtain the remaining second envelope segment 42 on the second side.

[0128] Step A25”: Translate the remaining second envelope segment 42” of the second side upward along the height direction G to the next boundary segment 16. If the remaining second envelope segment 42” of the second side coincides with at least a part of the next boundary segment 16, then cut off the remaining second envelope segment 42” of the second side from the second side endpoint 162 of the next boundary segment 16 and retain the remaining second envelope segment of the second side located on the second side. Connect one endpoint of the next boundary segment 16 to the second side endpoint of the previous boundary segment 14 with an inclined straight line segment 2E. Repeat the above operation for the remaining second envelope segment 42” of the second side located on the second side until the length of the remaining remaining second envelope segment 42” of the second side is zero.

[0129] If the remaining second envelope segment 42” on the second side does not overlap with the next boundary segment 16, then skip the current next boundary segment 16 and continue to translate upwards until translating to the next boundary segment with overlapping parts.

[0130] The aforementioned inclined line 2E can subsequently serve as the lower right boundary of the closed envelope 3. Therefore, the aforementioned inclined line 2E can be added to the beginning of the lower right bound set {K6}. It should be understood that the lower right bound set {K6} contains one or more inclined lines 2E.

[0131] The above steps yield the upper left bound set {K1}, the upper middle bound set K2, the upper right bound set {K3}, the lower left bound set {K4}, the lower middle bound set K5, and the lower right bound set {K6}. The upper middle bound K2 can be the highest-positioned boundary segment 11, and the lower middle bound K5 can be the lowest-positioned boundary segment 14.

[0132] Connect {K1}, K2, and {K3} in sequence. Then reverse the direction and order of {K4}, K5, and {K6}. Connect {K4}, K5, and {K6} in sequence to close the shape. This will give you a closed shape region with a direction (i.e., closed envelope 3), which can then be used as the movement path of the processing device.

[0133] It should be understood that in some embodiments, only one or more of the following can be obtained: the upper left bound set {K1}, the upper middle bound set {K2}, the upper right bound set {K3}, the lower left bound set {K4}, the lower middle bound set K5, and the lower right bound set {K6}. For example, only the upper left bound set {K1} and the upper middle bound set K2 can be obtained, depending on the position of each part graphic in the aforementioned two-dimensional plane.

[0134] In some embodiments, each part graphic is connected to at most two of the remaining part graphics. This helps to avoid corners of less than 90° at the connection between the inclined straight line segment and the boundary line segment of the part graphic, thereby ensuring the moving speed of the processing device.

[0135] The motion path planning method provided in the embodiments of this application can improve processing speed and processing efficiency.

[0136] Corresponding to the method described in the above embodiments, Figure 19 This diagram illustrates the structure of a motion path planning device provided in an embodiment of this application. For ease of explanation, only the parts relevant to the embodiments of this application are shown.

[0137] refer to Figure 19 The motion path planning device provided in the embodiments of this application includes a boundary line segment acquisition module 1A, a connection module 2A, and a closure module 3A.

[0138] Boundary segment acquisition module 1A is used to acquire the boundary segments of each part graphic, wherein each part graphic is located at a different position.

[0139] The connection module 2A is used to connect the endpoint of the boundary line segment of one part graphic to the endpoint of the boundary line segment of another part graphic using an inclined straight line segment, wherein the minimum angle between the inclined straight line segment and the height direction is greater than 0° and less than 90°.

[0140] The closed module 3A is used to: connect the inclined straight line segment with at least a portion of the boundary line segment to form a closed envelope that can surround all part graphics, so as to serve as the motion path of the processing device.

[0141] Figure 20 This is a schematic diagram of the connection module of a motion path planning device according to an embodiment of this application. (Reference) Figure 20 The aforementioned connection module 2A may include a first envelope boundary acquisition unit 21A, a first truncation unit 22A, and a first connection unit 23A.

[0142] The first envelope boundary acquisition unit 21A is used to: acquire the first envelope boundary line segment with the highest position in the height direction, wherein the aforementioned first envelope boundary line segment is the side of the smallest envelope rectangle of all part graphics.

[0143] The first truncation unit 22A is used to: cut off the first envelope boundary segment at the first end point of the highest boundary segment in the height direction and retain the remaining first envelope boundary segment on the first side to obtain the remaining first envelope segment on the first side.

[0144] The first connecting unit 23A is used to: translate the remaining first envelope segment on the first side downward along the height direction to the next boundary segment; if the remaining first envelope segment on the first side coincides with at least a part of the next boundary segment, then cut off the remaining first envelope segment on the first side from the first end point of the next boundary segment and retain the remaining first envelope segment on the first side; connect one end point of the next boundary segment to the first end point of the previous boundary segment with an inclined straight line segment; repeat the above operation on the remaining first envelope segment on the first side until the length of the remaining remaining first envelope segment on the first side is zero.

[0145] Figure 21 This is a schematic diagram of the connection module of a motion path planning device provided in another embodiment of this application. (Reference) Figure 21 The aforementioned wiring module 2A may also include a second cut-off unit 24A and a second wiring unit 25A.

[0146] The second truncation unit 24A is used to: cut off the first envelope boundary segment at the second end point of the highest boundary segment in the height direction and retain the remaining first envelope boundary segment on the second side to obtain the remaining first envelope segment on the second side.

[0147] The second connecting unit 25A is used to: translate the remaining second-side envelope segment downward along the height direction to the next boundary segment; if the remaining first envelope segment on the second side coincides with at least a part of the next boundary segment, then cut off the remaining first envelope segment on the second side from the second-side endpoint of the next boundary segment and retain the remaining first envelope segment on the second side; connect one endpoint of the next boundary segment to the second-side endpoint of the previous boundary segment with an inclined straight line segment; repeat the aforementioned operation on the remaining first envelope segment on the second side until the length of the remaining first envelope segment on the second side is zero.

[0148] Figure 22 This is a schematic diagram of the connection module of a motion path planning device according to another embodiment of this application. (Reference) Figure 22 The aforementioned connection module 2A may further include a second envelope boundary acquisition unit 21A', a third truncation unit 22A', and a third connection unit 23A'.

[0149] The second envelope boundary acquisition unit 21A' is used to: acquire the second envelope boundary line segment with the lowest position in the height direction, wherein the aforementioned second envelope boundary line segment is the side of the minimum envelope rectangle.

[0150] The third truncation unit 22A' is used to: truncate the second envelope boundary segment using the first side endpoint of the boundary segment with the lowest position in the height direction and retain the remaining second envelope boundary segment located on the first side, thereby obtaining the remaining second envelope segment on the first side.

[0151] The third connecting unit 23A' is used to: translate the remaining second envelope segment on the first side upward along the height direction to the next boundary segment; if the remaining second envelope segment on the first side coincides with at least a part of the next boundary segment, then cut off the remaining second envelope segment on the first side from the first end point of the next boundary segment and retain the remaining second envelope segment on the first side; connect one end point of the next boundary segment to the first end point of the previous boundary segment with an inclined straight line segment; repeat the above operation on the remaining second envelope segment on the first side until the length of the remaining second envelope segment on the first side is zero.

[0152] Figure 23 This is a schematic diagram of the connection module of a motion path planning device according to another embodiment of this application. (Reference) Figure 23 The aforementioned wiring module 2A may also include a fourth cut-off unit 24A' and a fourth wiring unit 25A'.

[0153] The fourth truncation unit 24A' is used to: truncate the second envelope boundary segment at the second end point of the boundary segment with the lowest position in the height direction and retain the remaining second envelope boundary segment on the second side to obtain the remaining second envelope segment on the second side.

[0154] The fourth connecting unit 25A' is used to: translate the remaining second envelope segment on the second side upward along the height direction to the next boundary segment; if the remaining second envelope segment on the second side coincides with at least a part of the next boundary segment, then cut off the remaining second envelope segment on the second side from the second side endpoint of the next boundary segment and retain the remaining second envelope segment on the second side; connect one endpoint of the next boundary segment to the second side endpoint of the previous boundary segment with an inclined straight line segment; repeat the above operation on the remaining second envelope segment on the second side until the length of the remaining remaining second envelope segment on the second side is zero.

[0155] Figure 24 This is a schematic diagram of the connection module of a motion path planning device according to another embodiment of this application. (Reference) Figure 24 The aforementioned connection module 2A may include a boundary determination unit 21A and a fifth connection unit 22A.

[0156] Boundary Determination Unit 21A” is used to: determine the boundary line segment with the highest position in the height direction.

[0157] The fifth connecting unit 22A” is used to: connect the endpoint of the boundary line segment of one part graphic to the endpoint of the boundary line segment of another part graphic that is adjacent in the height direction with an inclined straight line segment, such that the minimum turning angle at the endpoint of the inclined straight line segment in the closed envelope is greater than 90°, and that the two endpoints of the inclined straight line segment are on the same side of the first side endpoint of the highest boundary line segment.

[0158] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0159] Figure 25 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Figure 25 As shown, the processing equipment 25 of this embodiment includes: at least one processor 250 ( Figure 25 (Only one is shown in the diagram), memory 251, and computer program 252 stored in memory 251 and executable on at least one processor 250; when processor 250 executes computer program 252, it implements the steps in any of the above method embodiments.

[0160] The processing equipment 25 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. This processing equipment may include, but is not limited to, a processor 250 and a memory 251. Those skilled in the art will understand that... Figure 25 This is merely an example of processing equipment and does not constitute a limitation on the processing equipment. It may include more or fewer components than shown in the figure, or combinations of certain components, or different components. For example, it may also include input / output devices, network access devices, buses, etc.

[0161] The processor 250 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0162] In some embodiments, memory 251 may be an internal storage unit of the processing equipment 25, such as a hard drive or memory of the processing equipment. In other embodiments, memory 251 may be an external storage device of the processing equipment, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the processing equipment. Furthermore, memory 251 may include both internal and external storage units of the processing equipment. Memory 251 is used to store operating systems, applications, boot loaders, data, and other programs, such as program code for computer programs. Memory 251 may also be used to temporarily store data that has been output or will be output.

[0163] For example, computer program 252 may be divided into one or more modules / units, one or more of which are stored in memory 251 and executed by processor 250 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 252 in processing equipment 25.

[0164] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0165] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0166] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium; when executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media include: any entity or device capable of carrying computer program code to a device / terminal equipment, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0167] Embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0168] Embodiments of this application provide a computer program product that, when run on a processing device, enables the processing device to perform the steps described in the various method embodiments above.

[0169] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0170] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0171] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0172] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0173] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A motion path planning method, characterized in that, include: Obtain the boundary line segments of each part graphic, wherein each part graphic is located at a different position; The endpoints of the boundary line segments of one part graphic are connected to the endpoints of the boundary line segments of another part graphic by means of an inclined straight line segment, wherein the minimum angle between the inclined straight line segment and the height direction is greater than 0° and less than 90°. The inclined straight line segment is connected to at least a portion of the boundary line segment to form a closed envelope that can surround all the part graphics, so as to serve as the movement path of the processing device; Connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments includes: Determine the boundary segment with the highest position in the stated height direction; Connect the endpoint of one boundary segment of the part graphic to the endpoint of another boundary segment of the part graphic adjacent in the height direction with an inclined straight line segment, such that the minimum turning angle at the endpoint of the inclined straight line segment in the closed envelope is greater than 90°, and that the two endpoints of the inclined straight line segment are on the same side of the first side endpoint of the highest boundary segment, and that the distance between the inclined straight line segments is minimized.

2. The motion path planning method as described in claim 1, characterized in that, Connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments includes: Obtain the first envelope boundary line segment with the highest position in the height direction, where the first envelope boundary line segment is the side of the smallest envelope rectangle of all the part graphics; Using the first side endpoint of the boundary segment that is highest in the height direction, the first envelope boundary segment is cut off and the remaining first envelope boundary segment located on the first side is retained to obtain the remaining first envelope segment on the first side. The remaining first envelope segment on the first side is translated downward along the height direction to the next boundary segment. If the remaining first envelope segment on the first side coincides with at least a portion of the next boundary segment, the remaining first envelope segment on the first side is cut off from the first endpoint of the next boundary segment, while retaining the remaining first envelope segment on the first side. An endpoint of the next boundary segment is connected to the first endpoint of the previous boundary segment with an inclined straight line segment. The aforementioned operation is repeated for the remaining first envelope segment on the first side until the length of the remaining first envelope segment on the first side is zero.

3. The motion path planning method as described in claim 2, characterized in that, The method of connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments further includes: Using the second side endpoint of the boundary segment that is highest in the height direction, the first envelope boundary segment is cut off and the remaining first envelope boundary segment located on the second side is retained to obtain the remaining first envelope segment on the second side; The remaining envelope segment on the second side is translated downward along the height direction to the next boundary segment. If the remaining first envelope segment on the second side coincides with at least a portion of the next boundary segment, the remaining first envelope segment on the second side is cut off from the second side endpoint of the next boundary segment, and the remaining first envelope segment on the second side located on the second side is retained. An endpoint of the next boundary segment is connected to the second side endpoint of the previous boundary segment with an inclined straight line segment. The aforementioned operation is repeated for the remaining first envelope segment on the second side located on the second side until the length of the remaining first envelope segment on the second side is zero.

4. The motion path planning method as described in claim 2, characterized in that, The method of connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments further includes: Obtain the second envelope boundary segment with the lowest position in the height direction, where the second envelope boundary segment is a side of the minimum envelope rectangle; Using the first side endpoint of the boundary segment with the lowest position in the height direction, the second envelope boundary segment is cut off and the remaining second envelope boundary segment located on the first side is retained to obtain the remaining second envelope segment on the first side; The remaining second envelope segment on the first side is translated upward along the height direction to the next boundary segment. If the remaining second envelope segment on the first side coincides with at least a portion of the next boundary segment, the remaining second envelope segment on the first side is cut off from the first endpoint of the next boundary segment, and the remaining second envelope segment on the first side is retained. An endpoint of the next boundary segment is connected to the first endpoint of the previous boundary segment with an inclined straight line segment. The aforementioned operation is repeated for the remaining second envelope segment on the first side until the length of the remaining second envelope segment on the first side is zero.

5. The motion path planning method as described in claim 4, characterized in that, The method of connecting the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using inclined straight line segments further includes: Using the second side endpoint of the boundary segment that is lowest in the height direction, the second envelope boundary segment is cut off and the remaining second envelope boundary segment located on the second side is retained to obtain the remaining second envelope segment on the second side; The remaining second envelope segment on the second side is translated upward along the height direction to the next boundary segment. If the remaining second envelope segment on the second side coincides with at least a portion of the next boundary segment, the remaining second envelope segment on the second side is cut off from the second side endpoint of the next boundary segment, and the remaining second envelope segment on the second side located on the second side is retained. An endpoint of the next boundary segment is connected to the second side endpoint of the previous boundary segment with an inclined straight line segment. The above operation is repeated for the remaining second envelope segment on the second side located on the second side until the length of the remaining remaining second envelope segment on the second side is zero.

6. The motion path planning method according to any one of claims 1 to 5, characterized in that, Each of the described part graphics is connected to at most two of the remaining part graphics.

7. A motion path planning device, characterized in that, The motion path planning device includes: The boundary line segment acquisition module is used to: acquire the boundary line segments of each part graphic, wherein each part graphic is located at a different position; A connection module is used to connect the endpoints of the boundary line segments of one part graphic to the endpoints of the boundary line segments of another part graphic using an inclined straight line segment, wherein the minimum angle between the inclined straight line segment and the height direction is greater than 0° and less than 90°. A closed module is used to: connect the inclined straight line segment with at least a portion of the boundary line segments to form a closed envelope that can surround all the part graphics, so as to serve as the motion path of the processing device; The connection module includes: A boundary determination unit is used to: determine the boundary line segment with the highest position in the height direction; The fifth connecting unit is used to: connect the endpoint of a boundary line segment of one part graphic to the endpoint of a boundary line segment of another part graphic adjacent in the height direction with an inclined straight line segment, such that the minimum turning angle at the endpoint of the inclined straight line segment in the closed envelope is greater than 90°, and such that the two endpoints of the inclined straight line segment are located on the same side of the first side endpoint of the highest boundary line segment, and such that the distance between the inclined straight line segments is minimized.

8. A processing equipment, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the motion path planning method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the motion path planning method as described in any one of claims 1 to 6.

Images