Corner connection speed processing method, device, processing equipment and readable storage medium

Abstract

This application relates to a method, apparatus, processing equipment, and readable storage medium for processing corner connection speeds. The method includes: acquiring the corner constraint speeds of adjacent sub-processing trajectories; determining the local extrema of the corner constraint speeds based on the corner constraint speeds; and determining the planned corner connection speed of the sub-processing trajectories based on the corner constraint speeds, the local extrema of the corner constraint speeds, and speed planning model data of the sub-processing trajectories. The local extrema of the corner constraint speed is the speed of one endpoint of the sub-processing trajectory, and the planned corner connection speed is the speed of the other endpoint of the sub-processing trajectory. This method ensures that the speed of the other endpoint of the sub-processing trajectory is not too large or too small, and that the speeds of both endpoints of the sub-processing trajectory meet the requirements of the aforementioned speed planning model data. This prevents processing equipment (such as cutting equipment) from experiencing processing problems or incomplete processing (such as overcutting or undercutting) during actual processing, thereby improving processing quality.

Description

Technical Field

[0001] This application relates to the field of laser processing, and in particular to a method, apparatus, processing equipment, and readable storage medium for processing corner connection speed. Background Technology

[0002] With the continuous development of laser processing technology and the increasing demand for lasers, the requirements for laser processing precision are becoming increasingly stringent. In the laser processing process, motion control is a crucial technical means to ensure precision, and processing trajectory speed planning, as the core of motion control, directly affects the precision of laser processing.

[0003] Machining trajectory speed planning primarily addresses the issue of discontinuous speeds across multiple consecutive trajectory segments, optimizing machining speed through look-ahead speed planning. Look-ahead speed planning, based on forward and reverse speed planning strategies, determines the corner connection speeds corresponding to consecutive trajectory segments to improve speed continuity. Corner connection speeds include the starting speed and ending speed of the corner; the starting speed is the initial speed of the machining trajectory at the corner, and the ending speed is the final speed. However, in practical applications, improperly set corner connection speeds can lead to machining equipment (such as machine tools) experiencing either overcutting or undercutting during actual machining, thus reducing machining quality. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, processing equipment, and readable storage medium for processing corner connection speeds to address the aforementioned technical problems.

[0005] A corner connection speed processing method, applied to a machining trajectory including multiple sub-machining trajectories, includes:

[0006] Obtain the corner constraint speed of adjacent sub-processing trajectories;

[0007] The local extreme value of the corner constraint velocity is determined based on the corner constraint velocity.

[0008] Based on the corner constraint speed, the local extreme value of the corner constraint speed, and the speed planning model data of the sub-processing trajectory, the planned corner connection speed of the sub-processing trajectory is determined;

[0009] The local extremum of the corner constraint velocity is the velocity of one endpoint of the sub-processing trajectory, and the planned corner connection velocity is the velocity of the other endpoint of the sub-processing trajectory.

[0010] A corner connection speed processing device, comprising:

[0011] The constraint speed acquisition module is used to acquire the corner constraint speed of adjacent sub-processing trajectories;

[0012] A local extremum determination module, connected to the constraint velocity acquisition module, is used to determine the local extremum of the corner constraint velocity based on the corner constraint velocity.

[0013] The connection speed determination module is connected to the constraint speed acquisition module and the local extremum determination module, respectively, and is used to determine the planned corner connection speed of the sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory; the local extremum of the corner constraint speed is the speed of one endpoint of the sub-processing trajectory, and the planned corner connection speed is the speed of the other endpoint of the sub-processing trajectory.

[0014] A processing apparatus includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the method described above.

[0015] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0016] A computer program product that, when run on a terminal device, causes the terminal device to perform any of the methods described above.

[0017] The beneficial effects of the embodiments of this application are as follows: the local extremum of the corner constraint speed is the speed of one endpoint of the sub-processing trajectory. The local extremum of the corner constraint speed is the local minimum or maximum. Based on the local extremum of the corner constraint speed (i.e., the speed of one endpoint of the sub-processing trajectory), combined with the speed planning model data of the sub-processing trajectory and constrained by the corner constraint speed, the planned corner connection speed (i.e., the speed of the other endpoint of the sub-processing trajectory) can be determined. This can ensure that the speed of the other endpoint of the sub-processing trajectory is not too large or too small, and that the speeds of both endpoints of the sub-processing trajectory meet the requirements of the aforementioned speed planning model data. This can prevent the processing equipment (such as the cutting equipment) from processing or processing incompletely (such as overcutting or undercutting) during the actual processing process, and can improve the processing quality. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, 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.

[0019] Figure 1This is a flowchart illustrating a corner connection speed processing method in one embodiment;

[0020] Figure 2 This is a schematic diagram of the corner constraint speed and time for each sub-processing trajectory in a processing trajectory in one embodiment;

[0021] Figure 3 This is a schematic diagram of the specific process of step 106 in one embodiment;

[0022] Figure 4 This is a schematic diagram of the specific process of step 106 in one embodiment;

[0023] Figure 5 This is a schematic diagram of the specific process of step 104 in one embodiment;

[0024] Figure 6 This is a schematic diagram of the specific process of step 102 in one embodiment;

[0025] Figure 7 This is a flowchart illustrating a corner connection speed processing method in one embodiment;

[0026] Figure 8 This is a schematic block diagram of the corner connection speed processing device in one embodiment;

[0027] Figure 9 This is a schematic block diagram of the specific structure of the connection speed determination module 60 in one embodiment;

[0028] Figure 10 This is a schematic block diagram of the specific structure of the connection speed determination module 60 in one embodiment;

[0029] Figure 11 This is a schematic block diagram of the local extremum determination module 40 in one embodiment;

[0030] Figure 12 This is a schematic block diagram of the specific structure of the constraint speed acquisition module 20 in one embodiment;

[0031] Figure 13 This is a schematic block diagram of the corner connection speed processing device in one embodiment;

[0032] Figure 14 This is a schematic diagram of the processing equipment in one embodiment. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] Figure 1 This is a flowchart illustrating a corner connection speed processing method in one embodiment.

[0036] In this embodiment, as Figure 1 As shown, the corner connection speed processing method is applied to a machining trajectory that includes multiple sub-machining trajectories. The corner connection speed processing method includes steps 102 to 106.

[0037] Step 102: Obtain the corner constraint speed of adjacent sub-processing trajectories.

[0038] The machining trajectory can be the laser machining planning trajectory or the machining planning trajectory in the look-ahead window toolPath; the sub-machining trajectory can be a straight line trajectory and / or an arc trajectory.

[0039] Adjacent sub-processing trajectories can be sub-processing trajectories that share at least one endpoint; corner constraint speed can be the maximum allowed corner speed when adjacent sub-processing trajectories are connected to form a corner, which can be applied to scenarios that limit the maximum processing speed; corner constraint speed can also be the minimum allowed corner speed when adjacent sub-processing trajectories are connected to form a corner, which can be applied to scenarios that limit the minimum processing speed.

[0040] For example, the look-ahead window toolPath has 4 sub-processing trajectories P1, P2, P3 and P4. The sub-processing trajectories are connected to form 3 corners. According to the processing cache order, the corner constraint speed V1 corresponding to the corner of the first sub-processing trajectory P1 and the second sub-processing trajectory P2, the corner constraint speed V2 corresponding to the corner of the second sub-processing trajectory P2 and the third sub-processing trajectory P3, and the corner constraint speed V3 corresponding to the corner of the third sub-processing trajectory P3 and the fourth sub-processing trajectory P4 are calculated in sequence.

[0041] It should be noted that in order to ensure that the machining operation can accurately stop at the end of the machining trajectory in the look-ahead window, the end speed of the last segment of the machining trajectory needs to be set to zero.

[0042] Step 104: Determine the local extreme value of the corner constraint velocity based on the corner constraint velocity.

[0043] The local extremum of the corner constraint velocity can be either the local minimum or the local maximum of the corner constraint velocity; where the local minimum of the corner constraint velocity can be a local minimum among multiple corner maximum velocities, i.e., the local minimum of the corner maximum velocity; the local maximum of the corner constraint velocity can be a local maximum among multiple corner maximum velocities, i.e., the local maximum of the corner maximum velocity.

[0044] For example, such as Figure 2 As shown, when the local extreme value of the corner constraint velocity is the local minimum value of the corner constraint velocity, the local minimum value of the corner constraint velocity is velocities V2, V4, and V6; when the local extreme value of the corner constraint velocity is the local maximum value of the corner constraint velocity, the local maximum value of the corner constraint velocity is velocities V1, V3, and V5.

[0045] Step 106: Based on the corner constraint speed, the local extreme value of the corner constraint speed, and the speed planning model data of the sub-processing trajectory, determine the planned corner connection speed of the sub-processing trajectory; the local extreme value of the corner constraint speed is the speed of one endpoint of the sub-processing trajectory, and the planned corner connection speed is the speed of the other endpoint of the sub-processing trajectory.

[0046] The speed planning model data for the sub-machining trajectory may include the speed planning model and trajectory parameters of the sub-machining trajectory; wherein, the speed planning model may include a linear acceleration / deceleration planning model, an S-curve acceleration / deceleration planning model, and an exponential acceleration / deceleration planning model; the trajectory parameters may include the trajectory length, trajectory acceleration, trajectory jerk, and full trajectory constraint speed, wherein the full trajectory constraint speed may include the maximum machining speed of the trajectory and the programmed feed speed.

[0047] Optionally, the maximum machining speed of the trajectory can be the maximum machining speed permitted by the machine tool; the programmed feed rate can be the maximum machining speed set by the programming software kernel. The planned corner connection speed can be the target corner connection speed that satisfies the speed planning model data, based on the local extreme value of the corner constraint speed, or it can be the remaining corner constraint speeds in the sub-machining trajectory that are not local extreme values ​​of the corner constraint speed.

[0048] Specifically, when planning the corner connection speed of the processing trajectory, the local extreme value of the corner constraint speed of the sub-processing trajectory is used as the reference speed, and the trajectory parameters are input into the speed planning model to obtain the corner connection speed calculated by the model. Based on the relationship between the other corner constraint speeds in the sub-processing trajectory and the corner connection speed calculated by the model, the planned corner connection speed of the sub-processing trajectory is determined. The local extreme value of the corner constraint speed and the planned corner connection speed are the speeds of the two endpoints of the sub-processing trajectory, respectively.

[0049] For example, Figure 2This diagram illustrates the corner constraint velocities and times for each sub-machining trajectory within the machining trajectory. Specifically, the corner constraint velocities for sub-machining trajectory P0 are V0 and V1; for sub-machining trajectory P1, V1 and V2; for sub-machining trajectory P2, V2 and V3; for sub-machining trajectory P3, V3 and V4; for sub-machining trajectory P4, V4 and V5; for sub-machining trajectory P5, V5 and V6; for sub-machining trajectory P6, V6 and V7; and for sub-machining trajectory P7, V7 and V8. Furthermore, the relative magnitudes of these corner constraint velocities are: V7 > V3 > V1 > V5 > V2 > V6 > V4 > V0 > V8 = 0.

[0050] For example, when the local extrema of the corner constraint velocity are the local minima of the corner constraint velocity, that is, when the local minima of the corner constraint velocity are the corner constraint velocities V0, V2, V4, and V6, then the corner constraint velocities V0, V2, V4, and V6 are used as the reference velocities and are input into the velocity planning model along with the trajectory parameters. The corner connection velocities V1', V3', V5', and V7' calculated by the model are obtained. Then, based on the relationship between the corner constraint velocities V1, V3, V5, and V7 and the corner connection velocities V1', V3', V5', and V7' calculated by the model, the planned corner connection velocities of the sub-processing trajectory are determined.

[0051] When the local extreme value of the corner constraint velocity is the local maximum value of the corner constraint velocity, that is, the local maximum value of the corner constraint velocity is the corner constraint velocity V1, V3, V5 and V7, then the corner constraint velocities V1, V3, V5 and V7 are used as the reference velocities and are input into the velocity planning model along with the trajectory parameters to obtain the corner connection velocities V0', V2', V4' and V6' calculated by the model. Based on the relationship between the corner constraint velocities V0, V2, V4 and V6 and the corner connection velocities V0', V2', V4' and V6' calculated by the model, the planned corner connection velocities of the sub-processing trajectory are determined.

[0052] As described above, the local extremum of the corner constraint velocity is the velocity of one endpoint of the sub-processing trajectory. This local extremum represents a local minimum or maximum. Based on this local extremum (i.e., the velocity of one endpoint of the sub-processing trajectory), and combined with the velocity planning model data of the sub-processing trajectory, the planned corner connection velocity (i.e., the velocity of the other endpoint of the sub-processing trajectory) is determined using the corner constraint velocity as a constraint. This ensures that the velocity of the other endpoint of the sub-processing trajectory is neither too high nor too low, and that the velocities of both endpoints of the sub-processing trajectory meet the requirements of the aforementioned velocity planning model data. This prevents processing equipment (such as cutting equipment) from experiencing processing errors or incomplete processing (e.g., over-cutting or under-cutting) during actual processing, thus improving processing quality. Furthermore, by determining the planned corner connection velocity that satisfies the velocity planning model data through the local extremum of the corner constraint velocity, and using both the local extremum and the planned corner connection velocity as the velocities of the two endpoints of the sub-processing trajectory, the continuity of the corner connection velocity is guaranteed. This further improves the problem of over-processing or under-processing, effectively improving laser processing accuracy and quality.

[0053] Figure 3 This is a schematic diagram of the specific process of step 106 in one embodiment.

[0054] In this embodiment, as Figure 3 As shown, step 106 includes sub-steps 302 to 306.

[0055] Sub-step 302: Obtain the speed planning model and trajectory parameters of the sub-processing trajectory.

[0056] The method for obtaining the speed planning model and trajectory parameters of the sub-processing trajectory can be to read preset parameters such as the speed planning model and trajectory parameters through the controller.

[0057] In sub-step 304, the local extreme value of the corner constraint speed and the trajectory parameters are input into the speed planning model to determine the corner connection speed of the sub-processing trajectory.

[0058] The corner connection speed of the model can be obtained by taking the local extreme value of the corner constraint speed as the reference speed and inputting it into the speed planning model along with the trajectory parameters, and then outputting the corner connection speed after the model calculates it.

[0059] For example, sub-processing trajectory P f The trajectory parameters include the trajectory length L f Trajectory acceleration A cc Maximum processing speed V of the trajectory m Programmed feed rate V F and trajectory acceleration J, and the sub-processing trajectory P is known.f Local extremum of corner constrained velocity V s Furthermore, the velocity planning model is a linear acceleration / deceleration planning model, in which case the sub-processing trajectory P f Model corner connection speed V e The value to be determined.

[0060] So, the sub-processing trajectory P f Under the action of trajectory acceleration J, the acceleration reaches A from 0. cc Time used Local extremum of corner constraint velocity V s The maximum achievable speed V under trajectory acceleration J rm =V s +Acc×Δt, and reaching the maximum achievable speed V rm Required displacement increment ΔL = (V rm +V s )×Δt / 2, the maximum speed V set by the system tm =min(V m V F The following is based on ΔL and L f V rm With V tm Classification and discussion of the corner connection speed V of the model e Four situations:

[0061] In the first case, ΔL≥L f And V rm ≤V tm This indicates that the trajectory acceleration A cc Accelerate, and there is enough distance to complete L. f The speed can reach V rm And it will not exceed the maximum speed V set by the system. tm At this point, there must exist a corner connection speed V in the model. e The solution process is as follows:

[0062] First, solve for the maximum speed V set by the system. tm The displacement increment ΔL2 below:

[0063]

[0064] If the subprocessing trajectory P f trajectory length L f The length of the sub-machining trajectory P is longer than the displacement increment ΔL2, indicating that the sub-machining trajectory f The final speed can reach the maximum speed V set by the system. tm Therefore, let V e =V tm Otherwise, let V in the above formula... rm =Ve ΔL2=L f At this time, the speed V of the model corner connection e The solution process is as follows:

[0065] V e 2 +Acc×Δt×V e -V s 2 +Acc×V s -2×Acc×L f =0

[0066] If the above equation has a solution, it indicates that the local extremum V of the velocity is constrained by the corner. s Under trajectory acceleration J, it can accelerate to the model corner connection speed V. e and take V e >V s Correct. Otherwise, let V e =V s This indicates that under the action of trajectory acceleration J, the sub-processing trajectory P f Uniform motion.

[0067] Second case: ΔL < L f And V rm ≤V tm This indicates that the trajectory acceleration A cc Accelerate, but don't cover enough distance to complete L. f However, in trajectory acceleration A cc Under its influence, it can achieve the maximum achievable speed V. rm And not exceeding the maximum speed V set by the system. tm At this point, it is necessary to recalculate the appropriate trajectory acceleration A using a successive approximation method. cc Speed ​​V of connecting the corners of the model e This invention employs a bisection method, with the model corner connection speed V... e The specific solution process is as follows:

[0068] First, initialize the maximum speed to V. bm =V rm Minimum speed V hm =V s Average speed V mm =0.5×(V) bm +V hm Distance tolerance err:

[0069]

[0070] If err > 0, the average velocity V mm As the maximum speed V bm Vbm =V mm Otherwise, the average speed V mm As the minimum speed V hm V hm =V mm If |err|≥0.2, the average velocity V mm Take the maximum speed V bm and minimum speed V hm The average value, i.e., V mm =0.5×(V) bm +V hm Repeat the above operation until the distance tolerance |err| ≥ 0.2, then set V... mm As the corner connection speed V of the model e At this time, acceleration Alternatively, if no result can be calculated after repeating the iteration a certain number of times (50 iterations in this application), it is considered that the speed planning cannot achieve a suitable corner connection speed V for the model. e And trajectory acceleration A cc The loop ends, and the model's corner connection speed V e There is no solution.

[0071] The third case: ΔL≥L f And V rm >V tm This indicates that the trajectory acceleration A cc Accelerate, and cover a sufficient distance to complete the sub-processing trajectory P. f trajectory length L f However, in trajectory acceleration A cc Under the action, the achievable speed V rm It has exceeded the system's maximum speed V. tm Therefore, the trajectory acceleration A cannot be achieved. cc At this point, the solution is the corner connection speed V of the model. e =V tm The actual acceleration calculation formula is:

[0072] Fourth case: ΔL < L f And V rm >V tm This indicates that the trajectory acceleration A cc Acceleration, insufficient distance to complete the sub-processing trajectory P f trajectory length L f And in trajectory acceleration A cc Under its influence, it can reach a speed V. rm It also exceeded the system's maximum speed V. tm Therefore, the trajectory acceleration A cannot be achieved. ccAt this moment, the actual acceleration A cc Speed ​​V of connecting the corners of the model e The solution process is as follows:

[0073] First calculate the maximum speed V set by the system. tm The displacement increment ΔL3 is as follows:

[0074]

[0075] If L f >ΔL3 indicates that V e Able to reach V tm V e =V tm Otherwise, the bisection method needs to be used to re-solve for a suitable A. cc and V e The solution process is the same as that for the second case, and will not be repeated here.

[0076] Sub-step 306: Using the corner constraint speed as a constraint condition, determine the planned corner connection speed of the sub-processing trajectory based on the corner connection speed of the model.

[0077] The planned corner connection speed can be a corner connection speed that satisfies the speed planning model and trajectory parameters and is permissible; optionally, the planned corner connection speed can be the smaller value between the corner constraint speed at one end of the sub-processing trajectory and the model corner connection speed. Cases where the corner constraint speed is used as a constraint condition include: taking the corner constraint speed as the maximum value permissible for the planned corner connection speed.

[0078] Using corner constraint speed as a constraint condition, the case of determining the planned corner connection speed of the sub-processing trajectory based on the corner connection speed of the model includes: comparing the magnitude of the corner constraint speed at one end of the sub-processing trajectory and the corner connection speed of the model, and determining the smaller value of the two as the planned corner connection speed.

[0079] Specifically, when the corner constraint speed is greater than the model corner connection speed, the model corner connection speed is determined as the planned corner connection speed; when the corner constraint speed is less than the model corner connection speed, the corner constraint speed is determined as the planned corner connection speed.

[0080] For example, see further. Figure 2When the local extremum of the corner constraint velocity is the local minimum of the corner constraint velocity, the local minimum of the corner constraint velocity for sub-processing trajectories P1 and P2 is the corner constraint velocity V2. Using the corner constraint velocity V2 as the reference velocity, and inputting it along with the trajectory parameters into the velocity planning model, the model calculates and outputs the model corner connection velocities V1' and V3'. The relationship between the model corner connection velocity V1' and the corner constraint velocity V1 is compared. If the corner constraint velocity V1 is greater than the model corner connection velocity V1', then the model corner connection velocity V1' is determined as the planned corner connection velocity; if the corner constraint velocity V1 is less than the model corner connection velocity V1', then the corner constraint velocity V1 is determined as the planned corner connection velocity. Similarly, the relationship between the model corner connection velocity V3' and the corner constraint velocity V3 is compared, and the smaller of the two is determined as the planned corner connection velocity.

[0081] The corner connection speed processing method provided in this embodiment reads preset parameters such as the speed planning model and trajectory parameters from the controller; inputs the local extreme value of the corner constraint speed and the trajectory parameters into the speed planning model, and outputs the model corner connection speed after calculation; compares the magnitude of the corner constraint speed and the model corner connection speed, and determines the smaller or larger value as the planned corner connection speed. Through the above-described corner connection speed processing method, while ensuring that the planned corner connection speed meets the requirements of the speed planning model and trajectory parameters, it also meets the operational requirements of the machine tool and programming software kernel, effectively improving the continuity and executability of the corner connection speed, thereby mitigating the problems of over-processing or under-processing, and ultimately improving the accuracy of laser processing.

[0082] Figure 4 This is a schematic diagram of the specific process of step 106 in one embodiment.

[0083] In this embodiment, as Figure 4 As shown, step 106 includes sub-steps 402 to 408.

[0084] Sub-step 402: Obtain the speed planning model and trajectory parameters of the sub-processing trajectory.

[0085] Sub-step 404: Sort the local extrema of the corner constraint velocity according to their values ​​to obtain the extrema sort.

[0086] Sub-step 406: Based on the extreme value sorting, input the local extreme values ​​of the corner constraint speed and the trajectory parameters into the speed planning model to determine the corner connection speed of the sub-processing trajectory.

[0087] Sub-step 408: Using corner constraint speed as a constraint condition, determine the planned corner connection speed of the sub-processing trajectory based on the corner connection speed of the model.

[0088] The following are examples of sorting local extrema of corner constraint velocities by value: sorting local minima of corner constraint velocities by value from smallest to largest.

[0089] For example, see further. Figure 2 The minimum value sorting can be the sorting result of the corner constraint velocities V0, V2, V4, and V6 (local minimum values ​​of corner constraint velocities) in ascending order of velocity value, i.e., V0 <V4<V6<V2。

[0090] Based on the extreme value sorting, the local extreme values ​​of corner constraint speed and trajectory parameters are input into the speed planning model to determine the model corner connection speed of the sub-processing trajectory. The cases include: based on the minimum value sorting, the trajectory parameters are input into the speed planning model, and the local minimum values ​​of the maximum corner speed are input into the speed planning model from small to large, and the model corner connection speed of the sub-processing trajectory is determined iteratively.

[0091] Specifically, the controller reads preset parameters such as the speed planning model and trajectory parameters; sorts the local extreme values ​​of the corner constraint speed from smallest to largest to obtain the minimum value sorting; based on the minimum value sorting, the trajectory parameters are input into the speed planning model, and the local minimum values ​​of the corner maximum speed are input into the speed planning model from smallest to largest, iteratively determining the model corner connection speed of the sub-processing trajectory; comparing the magnitude relationship between the corner constraint speed and the model corner connection speed, the smaller value of the two is determined as the planned corner connection speed.

[0092] The corner connection speed processing method provided in this embodiment uses the local minimum value of the maximum corner speed as the reference speed to determine the planned corner connection speed that meets the speed planning model data. While ensuring that the planned corner connection speed meets the requirements of the speed planning model and trajectory parameters, it also meets the operating requirements of the machine tool and programming software kernel, effectively improving the continuity and executability of the corner connection speed, thereby improving the problem of over-processing or under-processing, and effectively improving the accuracy of laser processing.

[0093] In one embodiment, the process of sorting the local extrema of the corner constraint velocity according to their values ​​to obtain the extremum sort also includes sorting the local maxima of the corner constraint velocity according to their values ​​from largest to smallest to obtain the maxima sort.

[0094] For example, see further. Figure 2 The maximum value sorting can be the sorting result of the corner constraint velocities V1, V3, V5 and V7 (local maxima of corner constraint velocities) in descending order of velocity value, i.e. V7 > V3 > V1 > V5.

[0095] The case of determining the corner connection speed of the sub-processing trajectory by sorting by extreme values, inputting the local extreme values ​​of corner constraint speed and trajectory parameters into the speed planning model, and iteratively determining the corner connection speed of the sub-processing trajectory also includes: sorting by maximum values, inputting trajectory parameters into the speed planning model, and inputting the local maximum values ​​of corner maximum speed from large to small into the speed planning model, and iteratively determining the corner connection speed of the sub-processing trajectory.

[0096] Specifically, the controller reads preset parameters such as the speed planning model and trajectory parameters; sorts the local extreme values ​​of the corner constraint speed from largest to smallest to obtain the maximum value sorting; based on the maximum value sorting, the trajectory parameters are input into the speed planning model, and the local extreme values ​​of the corner maximum speed are input into the speed planning model from largest to smallest, iteratively determining the model corner connection speed of the sub-processing trajectory; comparing the magnitude relationship between the corner constraint speed and the model corner connection speed, the smaller value of the two is determined as the planned corner connection speed.

[0097] The corner connection speed processing method provided in this embodiment uses the local maximum value of the corner maximum speed as the reference speed to determine the planned corner connection speed that meets the speed planning model data. While ensuring that the planned corner connection speed meets the requirements of the speed planning model and trajectory parameters, as well as the operating requirements of the machining tool and programming software kernel, it meets the speed planning needs of different machining scenarios and effectively expands the applicability of the corner connection speed processing method.

[0098] As can be seen from the above, based on the extreme value sorting, starting from the local extreme value of the minimum or maximum corner constraint speed, the trajectory parameters are input into the speed planning model, and the corner constraint speed is used as the constraint condition to determine the planned corner connection speed of the sub-processing trajectory, so that the entire processing trajectory can meet the basic speed planning requirements (speed planning result of the local extreme value of the minimum or maximum corner constraint speed) and can guarantee the processing quality.

[0099] In one embodiment, determining the planned corner connection speed of a sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory further includes: after determining a planned corner connection speed, updating the corresponding corner constraint speed based on the determined planned corner connection speed, and subsequently determining the planned corner connection speed of the corresponding sub-processing trajectory using the updated corner constraint speed as a constraint condition.

[0100] After determining a planned corner connection speed, the situation in which the corresponding corner constraint speed is updated based on the determined planned corner connection speed includes: after determining a planned corner connection speed in the sub-processing trajectory, if the corner constraint speed is greater than the model corner connection speed, that is, the planned corner connection speed is the model corner connection speed, then the corner constraint speed of that endpoint of the sub-processing trajectory is updated to the model corner connection speed.

[0101] For example, see further. Figure 2 When the local extremum of the corner constraint velocity is the local minimum of the corner constraint velocity, the local minimum of the corner constraint velocity of sub-processing trajectories P1 and P2 is the corner constraint velocity V2. The corner constraint velocity V2 is used as the reference velocity and is input into the velocity planning model along with the trajectory parameters. The model calculates and outputs the model corner connection velocities V1' and V3'. The relationship between the model corner connection velocity V1' and the corner constraint velocity V1 is compared. When the corner constraint velocity V1 is greater than the model corner connection velocity V1', the model corner connection velocity V1' is determined as the planned corner connection velocity. The corner constraint velocity V1 of the sub-processing trajectory is updated to the model corner connection velocity V1'. Subsequently, the updated corner constraint velocity (i.e., the model corner connection velocity V1') is used as the constraint condition to determine the planned corner connection velocity of the corresponding sub-processing trajectory.

[0102] In one embodiment, the case of sorting by minimum values, inputting trajectory parameters into the speed planning model, and inputting the local minimum values ​​of corner maximum speeds into the speed planning model in ascending order, and iteratively determining the corner connection speed of the sub-processing trajectories includes: for sub-processing trajectories sorted in ascending order and adjacent to the local minimum values ​​of corner maximum speeds, starting from the sub-processing trajectory where the first local minimum value of corner maximum speed is located, inputting the local minimum values ​​of corner maximum speeds corresponding to each sub-processing trajectory into the speed planning model, and inputting the corresponding trajectory parameters into the speed planning model, and iteratively determining the corner connection speed of each sub-processing trajectory.

[0103] For sub-processing trajectories sorted in ascending order between two adjacent local minima of maximum corner speed, starting from the sub-processing trajectory containing the first local minima of maximum corner speed includes: taking the sub-processing trajectory sorted in ascending order between two adjacent local minima of maximum corner speed as the sub-processing trajectory requiring speed planning, and determining the index vIdx corresponding to the smaller and larger values ​​of the two local minima of maximum corner speed. j and vIdx j+1 Based on the size relationship between the two indexes, the sub-processing trajectory where the local minimum of the maximum speed at the first corner is located is determined. Starting from the sub-processing trajectory where the local minimum of the maximum speed at the first corner is located, the sub-processing trajectories that need to be speed planned are traversed one by one.

[0104] Optionally, based on the size relationship between the sum of the two indexes, the sub-processing trajectory containing the local minimum of the maximum speed at the first corner is determined. Starting from the sub-processing trajectory containing the local minimum of the maximum speed at the first corner, the cases in which the sub-processing trajectories requiring speed planning are traversed successively include: when the index corresponding to the smaller of the two local minimums of the maximum speed at the two corners is less than the index corresponding to the smaller of the two local minimums of the maximum speed at the two corners, i.e., vIdx j Less than vIdx j+1 When the smaller of the local minimum values ​​of the maximum speeds at the two corners is determined, the sub-processing trajectory is the first sub-processing trajectory that needs to be speed-planned, and the sub-processing trajectories that need to be forward speed-planned are traversed in the order of processing trajectory planning.

[0105] The specific steps are as follows: Step (1), find the index vIdx corresponding to the smaller and larger values ​​of the local minimum values ​​of the maximum speed at the two corners. j and vIdx j+1 Assign values ​​to sIdx and eIdx respectively. Step (2): If sIdx < eIdx, perform forward velocity planning on the sub-processing trajectory from the sIdx-th segment to the eIdx-1-th segment in the look-ahead window toolPath. Step (2) includes sub-steps (2.1) to (2.4).

[0106] Sub-step (2.1): Traverse the sub-processing trajectories that need to be speed-planned in the look-ahead window toolPath in order from sIdx to eIdx-1, select the k-th sub-processing trajectory, and sIdx≤k<eIdx.

[0107] Sub-step (2.2) compares the corner constraint velocities turnVel at both ends of the k-th sub-processing trajectory. k and turnVel k+1 The size relationship. If turnVel k <turnVel k+1 This indicates that the k-th segment is an acceleration trajectory segment; at this point, the corner constraint velocity turnVel is first set. k The trajectory length is L k Trajectory acceleration A cck Maximum processing speed V of the trajectory m,k Programmed feed rate V F,k and trajectory acceleration J k In the input linear acceleration / deceleration planning model, calculate the corner connection speed V that the k-th segment of the processing trajectory can achieve. e,k .

[0108] If V e,k <turnVel k+1, indicating that the processing trajectory of the k-th segment is constrained by the corner speed turnVel k The acceleration can only reach the corner connection speed V of the model. e,k Unable to reach the corner constraint speed turnVel k+1 Therefore, it is necessary to adjust the corner constraint speed turnVel of the k-th segment of the processing trajectory. k+1 The speed V of connecting the corners of the model e,k Assign to turnVel k+1 That is, turnVel k+1 =V e,k At this point, the planned corner connection speed is the model corner connection speed V. e,k ; and let k = k + 1, jump to sub-step (2.1); otherwise it means that the k-th sub-processing trajectory is constrained by the corner speed turnVel k Acceleration can reach the corner constraint speed turnVel k+1 No need to modify the corner constraint speed turnVel k+1 At this point, the planned corner connection speed is the corner constraint speed turnVel. k+1 And let k = k + 1, then jump to sub-step (2.1).

[0109] Sub-step (2.3), if turnVel k ≥turnVel k+1 This indicates that the k-th segment is a deceleration trajectory segment; at this point, the corner constraint speed turnVel is first set. k+1 The trajectory length is L k Trajectory acceleration A cck Maximum processing speed V of the trajectory m,k Programmed feed rate V F,k and trajectory acceleration J k In the input linear acceleration / deceleration planning model, calculate the corner connection speed V required for the reverse acceleration of the k-th segment's processing trajectory. s,k If V s,k ≥turnVel k , indicating that the processing trajectory of the k-th segment is constrained by the corner speed turnVel k+1 Reverse acceleration can achieve corner constraint speed turnVel k At this point, the planned corner connection speed is the corner constraint speed turnVel. k+1 And let k = k + 1, then jump to sub-step (2.1).

[0110] Sub-step (2.4), if V s,k <turnVel k , indicating that the processing trajectory of the k-th segment is constrained by the corner speed turnVel k+1Reverse acceleration cannot reach the preset corner constraint speed turnVel k At this point, it is necessary to constrain the corner speed of the k-th segment's processing trajectory to turnVel. k Modify to model corner connection speed V s,k That is, turnVel k =V s,k At this point, the planned corner connection speed is the model corner connection speed V. s,k .

[0111] As can be seen from the above, for sub-processing trajectories sorted from smallest to largest and adjacent to each other between local minima of maximum corner speed, starting from the sub-processing trajectory where the local minima of the first local minima of maximum corner speed is located, after determining a planned corner connection speed, the corresponding corner constraint speed is updated according to the determined planned corner connection speed. Subsequently, the planned corner connection speed of the corresponding sub-processing trajectory is determined using the updated corner constraint speed as a constraint condition, so that the speed planning results of the previous sub-processing trajectory can be used for the speed planning of the subsequent sub-processing trajectory (i.e., determining the remaining planned corner connection speeds). Thus, under the condition of satisfying the speed planning of the minimum local minima of maximum corner speed, the speed of the other end of each sub-processing trajectory (i.e., the planned corner connection speed) can reach a more reasonable (e.g., larger) value, which can improve the processing quality and processing efficiency of the entire processing trajectory.

[0112] In one embodiment, the case of inputting the local minimum value of the corner maximum speed corresponding to each sub-processing trajectory into the speed planning model and inputting the corresponding trajectory parameters into the speed planning model to iteratively determine the model corner connection speed of each sub-processing trajectory includes: inputting the local minimum value of the corner maximum speed corresponding to each sub-processing trajectory into the speed planning model and inputting the corresponding trajectory parameters into the speed planning model, and iteratively determining the model corner connection speed of each sub-processing trajectory through forward speed planning and reverse speed planning.

[0113] Specifically, in order to ensure that the processing trajectory of the kth segment connects at the model corner at a speed V s,k Below, the speed planning of all sub-processing trajectories before the (k-1)th sub-processing trajectory can be satisfied. Therefore, based on the forward speed planning in sub-steps (2.1) to (2.4), it is necessary to perform reverse speed planning for the corner constraint speeds from the (k-1)th sub-processing trajectory to both ends of the first sub-processing trajectory; define z = k-1.

[0114] Sub-step (2.5) first determines whether z is greater than 0. If z > 0, it means that there are still sub-processing trajectories that can be planned in the look-ahead window toolPath; then, the corner constraint velocities turnVel at both ends of the z-th sub-processing trajectory are taken. z and turnVelz+1 If turnVel z <turnVel z+1 Then the corner constraint speed is turnVel z Using the baseline speed, a linear acceleration / deceleration programming model is employed to calculate the corner connection speed V that the processing trajectory of the z-th segment can achieve. e,z .

[0115] If V e,z <turnVel z+1 Then the corner constraint speed turnVel of the processing trajectory of the z-th segment will be set. z+1 Modify to model corner connection speed V e,z That is, turnVel z+1 =V e,z At this point, the planned corner connection speed is the model corner connection speed V. e,z And let z = z-1, repeat sub-step (2.5). Otherwise, there is no need to modify the corner constraint speed turnVel of the z-th sub-processing trajectory. z+1 At this point, the planned corner connection speed is the corner constraint speed turnVel. z+1 And let k = k + 1, then jump to sub-step (2.1).

[0116] If turnVel z ≥turnVel z+1 With corner-constrained speed turnVel z+1 Using the base speed as the reference speed, calculate the corner connection speed V that can be achieved by reverse acceleration of the processing trajectory of the z-th segment. s,z If V s,z <turnVel z Then the corner constraint speed turnVel of the processing trajectory of the z-th segment will be set. z Modify to model corner connection speed V s,z That is, turnVel z =V s,z At this point, the planned corner connection speed is the model corner connection speed V. s,z And let z = z-1, repeat sub-step (2.5). Otherwise, there is no need to modify the corner constraint speed turnVel of the z-th sub-processing trajectory. z At this point, the planned corner connection speed is the corner constraint speed turnVel. z And let k = k + 1, then jump to sub-step (2.1).

[0117] Optionally, based on the size relationship between the sum of the two indexes, the sub-processing trajectory containing the local minimum of the maximum speed at the first corner is determined. Starting from the sub-processing trajectory containing the local minimum of the maximum speed at the first corner, the cases in which the sub-processing trajectories requiring speed planning are iterated sequentially also include: when the index corresponding to the smaller of the two local minimums of the maximum speed at the two corners is less than the index corresponding to the smaller of the two local minimums of the maximum speed at the two corners, i.e., vIdx... j Greater than or equal to vIdx j+1 When the larger of the local minimum values ​​of the maximum speeds at the two corners is determined, the sub-processing trajectory is identified as the first sub-processing trajectory that needs speed planning, and the sub-processing trajectories that need reverse speed planning are traversed in reverse order of the processing trajectory planning.

[0118] Step (3): If sIdx ≥ eIdx, perform reverse velocity planning on the sub-processing trajectory from the sIdx-1th segment to the eIdxth segment in the look-ahead window toolPath. Step (3) includes sub-steps (3.1) to (3.4).

[0119] Sub-step (3.1): Traverse the sub-processing trajectories that need to be speed-planned in the look-ahead window toolPath in reverse order from sIdx-1 to eIdx, select the k-th sub-processing trajectory, and eIdx≤k<sIdx.

[0120] Sub-step (3.2) compares the corner constraint velocities turnVel at both ends of the k-th sub-processing trajectory. k and turnVel k+1 The size relationship. If turnVel k >turnVel k+1 This indicates that the k-th segment is a deceleration trajectory segment; at this point, the corner constraint speed turnVel is first set. k+1 The trajectory length is L k Trajectory acceleration A cck Maximum processing speed V of the trajectory m,k Programmed feed rate V F,k and trajectory acceleration J k In the input linear acceleration / deceleration planning model, calculate the corner connection speed V that can be achieved by reverse acceleration of the k-th segment of the processing trajectory. s,k .

[0121] If V s,k <turnVel k , indicating that the processing trajectory of the k-th segment is constrained by the corner speed turnVel k+1 Reverse acceleration can only reach the corner connection speed V of the model. s,k Unable to reach the corner constraint speed turnVel kTherefore, it is necessary to adjust the corner constraint speed turnVel of the k-th segment of the processing trajectory. k The speed V of connecting the corners of the model s,k Assign a value to the corner constraint velocity turnVel k That is, turnVel k =V s,k At this point, the planned corner connection speed is the model corner connection speed V. s,k ; and let k = k-1, jump to sub-step (3.1); otherwise it means that the k-th sub-processing trajectory is constrained by the corner speed turnVel k+1 Reverse acceleration can achieve corner constraint speed turnVel k No need to modify the corner constraint speed turnVel k At this point, the planned corner connection speed is the corner constraint speed turnVel. k And let k = k-1 to jump to sub-step (3.1).

[0122] Sub-step (3.3), if turnVel k ≤turnVel k+1 This indicates that the k-th segment is an acceleration trajectory segment; at this point, the corner constraint velocity turnVel is first set. k The trajectory length is L k Trajectory acceleration A cck Maximum processing speed V of the trajectory m,k Programmed feed rate V F,k and trajectory acceleration J k In the input linear acceleration / deceleration planning model, calculate the corner connection speed V that can be achieved by reverse acceleration of the k-th segment of the processing trajectory. e,k .

[0123] If V e,k ≥turnVel k+1 , indicating that the processing trajectory of the k-th segment is constrained by the corner speed turnVel k+1 Reverse acceleration can achieve corner constraint speed turnVel k At this point, the planned corner connection speed is the corner constraint speed turnVel. k And let k = k-1, then jump to sub-step (3.1).

[0124] Sub-step (3.4), if V e,k <turnVel k+1 , indicating that the processing trajectory of the k-th segment is constrained by the corner speed turnVel k+1 Reverse acceleration cannot reach the preset corner constraint speed turnVel k At this point, it is necessary to constrain the corner speed of the k-th segment's processing trajectory to turnVel.k Modify to model corner connection speed V e,k That is, turnVel k =V e,k At this point, the planned corner connection speed is the model corner connection speed V. e,k .

[0125] In one embodiment, the case of inputting the local minimum value of the corner maximum speed corresponding to each sub-processing trajectory into the speed planning model and inputting the corresponding trajectory parameters into the speed planning model to iteratively determine the model corner connection speed of each sub-processing trajectory includes: inputting the local minimum value of the corner maximum speed corresponding to each sub-processing trajectory into the speed planning model and inputting the corresponding trajectory parameters into the speed planning model, and iteratively determining the model corner connection speed of each sub-processing trajectory through forward speed planning and reverse speed planning.

[0126] Specifically, in order to ensure that the processing trajectory of the kth segment connects at the model corner at a speed V e,k Below, the speed planning of all sub-processing trajectories after the (k+1)th sub-processing trajectory can be satisfied. Therefore, based on the reverse speed planning in sub-steps (3.1) to (3.4), it is necessary to perform forward speed planning for the corner constraint speeds turnVel at both ends of the (k+1)th sub-processing trajectory to the last sub-processing trajectory. k and turnVel k+1 Define z = k + 1.

[0127] Sub-step (3.5) first determines whether z is less than n; if z < n, it means there are still sub-processing trajectories that can be planned in the look-ahead window toolPath; then, the corner constraint velocities turnVel at both ends of the z-th sub-processing trajectory are taken. z and turnVel z+1 If turnVel z <turnVel z+1 Then the corner constraint speed is turnVel z Using the baseline speed, a linear acceleration / deceleration programming model is employed to calculate the corner connection speed V that the processing trajectory of the z-th segment can achieve. e,z If V e,z <turnVel z+1 Then the corner constraint speed turnVel of the processing trajectory of the z-th segment will be set. z+1 Modify to model corner connection speed V e,z That is, turnVel z+1 =V e,z At this point, the planned corner connection speed is the model corner connection speed V. e,zAnd let z = z + 1, repeat sub-step (3.5). Otherwise, there is no need to modify the corner constraint velocity turnVel of the z-th sub-processing trajectory. z+1 At this point, the planned corner connection speed is the corner constraint speed turnVel. z+1 And let k = k-1, then jump to sub-step (3.1).

[0128] If turnVel z ≥turnVel z+1 With corner-constrained speed turnVel z+1 Using the base speed as the reference speed, calculate the corner connection speed V that can be achieved by reverse acceleration of the processing trajectory of the z-th segment. s,z If V s,z <turnVel z This indicates that the reverse acceleration of the processing trajectory of the z-th segment cannot reach the corner constraint speed turnVel. z Then the corner constraint speed turnVel of the processing trajectory of the z-th segment will be set. z Modify to model corner connection speed V s,z That is, turnVel z =V s,z At this point, the planned corner connection speed is the model corner connection speed V. s,z And let z = z + 1, repeat sub-step (3.5). Otherwise, there is no need to modify the corner constraint velocity turnVel of the z-th sub-processing trajectory. z At this point, the planned corner connection speed is the corner constraint speed turnVel. z Then set k = k-1 and jump to sub-step (3.1).

[0129] Step (4): Repeat steps (1) to (3) until all sub-processing trajectories in the look-ahead window toolPath have completed speed planning.

[0130] Step (5): After planning the corner constraint speed of each sub-machining trajectory, the local extreme value of the corner constraint speed and the planned corner connection speed turnVel' determined by iteration are assigned to the look-ahead window toolPath and input into the programming software kernel for controlling the machine tool machining.

[0131] For example, see further. Figure 2, the local minimum values of the corner constraint speed (i.e., the local minimum values of the maximum corner speed) V0, V2, V4, and V6, and the sorting result in ascending order of the speed values is V0 < V4 < V6 < V2. Taking the two adjacent local minimum values of the maximum corner speed V0 and V4 sorted in ascending order as an example, the sub-processing trajectories P0, P1, P2, and P3 between the local minimum values of the maximum corner speed V0 and V4 are the sub-processing trajectories that need to be speed-planned, and the corresponding standard indices vIdx j and vIdx j+1 are 0 and 4, and the subscript index 0 is less than the subscript index 4. Then, the sub-processing trajectory P0 where the local minimum value of the maximum corner speed V0 is located is determined as the first sub-processing trajectory that needs to be speed-planned, that is, k = 0.

[0132] First, compare the magnitude relationship between the corner constraint speeds V0 and V1 at both ends of the sub-processing trajectory P0. Since V0 < V1, it means that the sub-processing trajectory P0 is an accelerating trajectory segment; taking the corner constraint speed V0 (i.e., the local minimum value of the maximum corner speed) as the reference speed, and taking the corner constraint speed V0, the trajectory length L k , the trajectory acceleration A cck , the maximum machining speed V m,k , the programmed feed speed V F,k and the jerk J k are input into the linear acceleration and deceleration planning model to calculate the model corner connection speed V e,k that the sub-processing trajectory P0 can reach; if V e,k < V1, it means that the sub-processing trajectory P0 can only reach the model corner connection speed V e,k from the corner constraint speed V0 and cannot reach the corner constraint speed V1. Therefore, it is necessary to adjust the corner constraint speed V1 of the sub-processing trajectory P0, and assign the model corner connection speed V e,k to V1, that is, V1 = V e,k , and let k = k + 1 to continue the speed planning for the sub-processing trajectories P1, P2, and P3 in the order of the processing trajectory planning; otherwise, it means that the sub-processing trajectory P0 can reach the corner constraint speed V1 from the corner constraint speed V0, and there is no need to modify the corner constraint speed V1, and let k = k + 1 to continue the speed planning for the sub-processing trajectories P1, P2, and P3 in the order of the processing trajectory planning.

[0133] Continuing, taking the two adjacent local minimum values of the maximum corner speed V6 and V2 sorted in ascending order as an example, the sub-processing trajectories P2, P3, P4, and P5 between the local minimum values of the maximum corner speed V6 and V2 are the sub-processing trajectories that need to be speed-planned, and the corresponding standard indices vIdx j and vIdx j+1Given that the subscript index 6 is greater than the subscript index 2, the sub-processing trajectory P5 containing the local minimum value V6 of the maximum corner speed is determined as the first sub-processing trajectory that needs speed planning, i.e., k = 5.

[0134] First, compare the magnitudes of the corner constraint velocities V5 and V6 at both ends of the sub-machining trajectory P5. Since V5 > V6, it indicates that the sub-machining trajectory P5 is a deceleration trajectory segment. Using the corner constraint velocity V6 (i.e., the local minimum of the corner maximum velocity) as the reference velocity, and setting the corner constraint velocity V6 and the trajectory length L... k Trajectory acceleration A cck Maximum processing speed V of the trajectory m,k Programmed feed rate V F,k and trajectory acceleration J k In the input linear acceleration / deceleration planning model, calculate the corner connection speed V that the sub-processing trajectory P5 can achieve with reverse acceleration. s,k If V s,k <V5 indicates that the sub-processing trajectory P5, accelerated in the reverse direction by the corner constraint velocity V6, can only reach the corner connection velocity V of the model. s,k The corner constraint speed V5 cannot be reached, therefore the corner constraint speed V5 of the sub-processing trajectory P5 needs to be adjusted to increase the model corner connection speed V. s,k Assign the value to the corner constraint velocity V5, i.e., V s,k =V5, and let k = k-1, so as to continue the speed planning of sub-processing trajectories P4, P3 and P2 in reverse order according to the processing trajectory planning; otherwise, it means that the sub-processing trajectory P5 can reach the corner constraint speed V5 by accelerating in the reverse direction from the corner constraint speed V6, and there is no need to modify the corner constraint speed V5, and let k = k-1, so as to continue the speed planning of sub-processing trajectories P4, P3 and P2 in reverse order according to the processing trajectory planning.

[0135] As can be seen from the above, the combined use of forward and reverse speed planning allows for the processing of sub-processing trajectories sorted from smallest to largest and located between the local minima of the maximum speed at two adjacent corners. Regardless of whether the process starts from the sub-processing trajectory containing the local minima of the maximum speed at the first corner or the sub-processing trajectory containing the local minima of the maximum speed at the last corner, after determining a planned corner connection speed, the corresponding corner constraint speed is updated based on the determined planned corner connection speed. Subsequently, the updated corner constraint speed is used as the constraint condition to determine the planned corner connection speed of the corresponding sub-processing trajectory. This ensures that the speed planning results of the preceding sub-processing trajectory can be used for the speed planning of the following sub-processing trajectories, and vice versa. In other words, it enables the speed planning results of the preceding and following sub-processing trajectories to be mutually applicable, thereby improving the processing quality and efficiency of the entire processing trajectory.

[0136] To ensure that the processing trajectory of the kth segment connects at the model corner at speed V e,k The following conditions are met for the speed planning of all sub-processing trajectories after the (k+1)th sub-processing trajectory.

[0137] The corner connection speed processing method provided in this embodiment calculates the model corner connection speed using the local extreme value of the corner constraint speed as the reference speed, and compares the magnitude of the local extreme value of the corner constraint speed and the model corner connection speed to determine the smaller value as the planned corner connection speed. Furthermore, the local extreme value of the corner constraint speed and the planned corner connection speed are respectively used as the speeds of the two endpoints of the sub-processing trajectory, so that the speeds of the two endpoints of the sub-processing trajectory meet the speed planning model data requirements, thereby ensuring the continuity of the corner connection speed, thus improving the problem of over-processing or under-processing, and effectively improving the laser processing accuracy.

[0138] Figure 5 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0139] In this embodiment, as Figure 5 As shown, step 104 includes sub-steps 502 to 504.

[0140] Sub-step 502: Use the starting speed and ending speed of each sub-processing trajectory as the corner constraint speed.

[0141] Sub-step 504: Obtain the local extremum of the corner constraint velocity based on the magnitude relationship of the constraint velocities of adjacent corners.

[0142] Based on the relationship between the magnitudes of adjacent corner constraint velocities, the following scenarios are used to obtain the local extremum of the corner constraint velocity: from the first corner constraint velocity to the last corner constraint velocity, P adjacent corner constraint velocities are grouped together, and an extremum is determined from each group as the local extremum of the corner constraint velocity, where P is an integer greater than or equal to 3.

[0143] Specifically, when P equals 3, from the first corner constraint speed to the last corner constraint, three or more adjacent corner constraint speeds are grouped together, and an extreme value is determined from each group as the local extreme value of the corner constraint speed. By obtaining the corner constraint speeds of as many sub-processing trajectories as possible, the accuracy of the planned corner connection speed is effectively improved.

[0144] When P is an integer greater than 3, for example, when it is 4, from the first corner constraint speed to the last corner constraint, take every 4 adjacent corner constraint speeds as a group, and determine an extreme value from each group as the local extreme value of the corner constraint speed. By increasing the number of adjacent corner constraint speeds in each group, the efficiency of obtaining the planned corner connection speed is effectively improved.

[0145] The corner connection speed processing method provided in this embodiment can change the value of P according to different usage scenarios, taking into account both the accuracy and efficiency of planning the corner connection speed.

[0146] Figure 6 This is a schematic diagram of the specific process of step 102 in one embodiment.

[0147] In this embodiment, as Figure 6 As shown, step 102 includes sub-steps 602 to 606.

[0148] Sub-step 602: Obtain the geometric information of the sub-processing trajectory.

[0149] Sub-step 604: Determine the geometric corner type of adjacent sub-processing trajectories.

[0150] Geometric information can be the angle between adjacent sub-processing trajectories; optionally, the value of geometric information can range from 0° to 180°.

[0151] Geometric corner types include LL-type corners formed by connecting straight lines, LC-type corners formed by connecting straight lines and arcs, CL-type corners formed by connecting arcs and straight lines, and CC-type corners formed by connecting arcs and arcs.

[0152] Among them, the LL-shaped corner formed by the connection of straight lines can be the processing trajectory P of two adjacent straight line segments. i P i+1 The corner formed by the connection; the LC-type corner formed by the connection of a straight line and an arc, which can be the machining trajectory P of the previous straight line. i With the subsequent arc processing trajectory P i+1 The corner formed by the connection; similarly, the CL-type corner formed by the connection of an arc and a straight line can be the processing trajectory P of the previous arc segment. i With the subsequent straight-line machining trajectory P i+1 The corner formed by the connection; the CC-type corner formed by the connection of two arcs, which can be the processing trajectory P of two adjacent arc segments. i P i+1 The corner formed by the connection.

[0153] Sub-step 606: Determine the corner constraint speed of adjacent sub-processing trajectories based on the geometric corner type and geometric information.

[0154] The corner constraint speed of adjacent sub-processing trajectories is determined based on the geometric corner type and geometric information, including the following cases: when the geometric corner type is a corner formed by the connection of straight lines and the included angle between adjacent sub-processing trajectories is zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the full trajectory constraint speed of the processing trajectory; when the geometric corner type is a corner formed by the connection of straight lines and the included angle between adjacent sub-processing trajectories is not zero, the corner constraint speed of adjacent sub-processing trajectories is zero.

[0155] Specifically, when the sub-processing trajectory P i P i+1 When the geometric corner type is an LL-type corner formed by the connection of straight lines, the corner constraint velocity V of adjacent sub-processing trajectories turn,i The calculation formula is as follows:

[0156]

[0157] In the formula, if the included angle β = 0 between adjacent sub-processing trajectories, it indicates that at the corner junction, the sub-processing trajectory P i P i+1 For straight lines that are in the same direction and collinear, in order to improve the processing efficiency of straight lines in the same direction, the maximum speed V at the corner connection is set. turn,i Define the adjacent sub-processing trajectory P i and P i+1 Maximum processing speed V m,i V m,i+1 Programmed feed rate V F,i V F,i+1 The minimum value V among the four t If the angle β between adjacent sub-processing trajectories ∈ (0,π], the maximum velocity V at the corner junction is... turn,i =0, to avoid overcutting at corners and improve the quality of corner processing.

[0158] The scenarios for determining the corner constraint speed of adjacent sub-processing trajectories based on the geometric corner type and geometric information also include: when the geometric corner type is a corner formed by the connection of a straight line and an arc or a corner formed by the connection of an arc and a straight line, and the included angle between adjacent sub-processing trajectories is zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the full trajectory constraint speed and centripetal speed of the processing trajectory; when the geometric corner type is a corner formed by the connection of a straight line and an arc or a corner formed by the connection of an arc and a straight line, and the included angle between adjacent sub-processing trajectories is not zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the full trajectory constraint speed, centripetal speed, and the included angle between adjacent sub-processing trajectories.

[0159] Centripetal velocity can be the square root of the radius of curvature and jerk of the arc sub-machining trajectory in any adjacent sub-machining trajectory, i.e. or Specifically, when the sub-processing trajectory P i P i+1 When the geometric corner type is an LC-type corner formed by the connection of a straight line and an arc, the corner constraint velocity V of the adjacent sub-processing trajectory turn,i The calculation formula is as follows:

[0160]

[0161] In the formula, if the included angle β = 0 between adjacent sub-processing trajectories, it indicates that the sub-processing trajectory P is a straight line. i Direction vector and arc sub-processing trajectory P i+1 The tangent direction vectors are in the same direction. The difference from the LL-type corner is the addition of an arc machining trajectory P. i+1 Centripetal velocity The constraint. If the included angle β ∈ (0, π] between adjacent sub-processing trajectories, the corner constraint velocity is constrained by the included angle β. The larger β is, the stronger the constraint on the straight sub-processing trajectory P. i and arc sub-processing trajectory P i+1 The sharper the corner, the lower the corner constraint speed.

[0162] Optionally, when the sub-processing trajectory P i P i+1 When the geometric corner type is a CL-type corner formed by the connection of an arc and a straight line, the corner constraint velocity V of the adjacent sub-processing trajectory turn,i The calculation formula is as follows:

[0163]

[0164] In the formula, if the included angle β = 0 between adjacent sub-processing trajectories, it indicates that at the corner junction, the arc sub-processing trajectory P i Tangent direction vector and linear machining trajectory P i+1 The direction vectors are in the same direction. The difference between this type of corner and the LL type corner is the addition of an arc sub-processing trajectory P. i centripetal velocity The constraint. If the included angle β ∈ (0, π] between adjacent sub-processing trajectories, the corner constraint velocity is constrained by the included angle β. The larger β is, the stronger the constraint on the arc sub-processing trajectory P. i and straight-line machining trajectory P i+1 The sharper the corner, the lower the corner constraint speed.

[0165] The scenarios for obtaining the corner constraint speed of adjacent sub-processing trajectories based on the geometric corner type and information also include: when the geometric corner type is a corner formed by the connection of two arcs and the included angle between adjacent sub-processing trajectories is zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the full trajectory constraint speed and the minimum centripetal speed of the processing trajectory; when the geometric corner type is a corner formed by the connection of two arcs and the included angle between adjacent sub-processing trajectories is not zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the full trajectory constraint speed, the minimum centripetal speed, and the included angle between adjacent sub-processing trajectories.

[0166] Optionally, the minimum centripetal velocity can be the minimum radius of curvature of any two adjacent arc sub-trajectories and the square root of the jerk, i.e. Specifically, when the sub-processing trajectory P i P i+1 When the geometric corner type is a CC-type corner formed by the connection of arcs, the corner constraint velocity V of adjacent sub-processing trajectories turn,i The calculation formula is as follows:

[0167]

[0168] In the above formula, if the included angle β = 0 between adjacent sub-machining trajectories, it means that at the corner, the arc sub-machining trajectory P i and P i+1 The tangent direction vectors are in the same direction. At this time, if the arc sub-processing trajectory P... i and P i+1 If the arcs are in the same direction, such as clockwise arc G02 or counterclockwise arc G03, it indicates that the arc sub-processing trajectory P... i and P i+1 At the junction, they are tangent in the same direction, and at this time the arc sub-machining trajectory P i and P i+1 The maximum speed at the corner junction is only affected by the centripetal speed of the center of the arc's machining trajectory with a smaller radius. Constraints. If the included angle β∈(0,π] between adjacent sub-processing trajectories, the arc sub-processing trajectory P i and P i+1 The maximum speed at the corner junction is also constrained by the included angle β. The larger β is, the faster the arc sub-processing trajectory P... i and P i+1 The sharper the corner, the lower the corner constraint speed.

[0169] The corner connection speed processing method provided in this embodiment, under the condition that laser processing can proceed normally, enables diversified acquisition of corner constraint speeds corresponding to different geometric corner information under different geometric corner types of adjacent sub-processing trajectories, effectively expanding the applicable scope of the corner connection speed processing method.

[0170] Figure 7 This is a flowchart illustrating a corner connection speed processing method in one embodiment.

[0171] In this embodiment, as Figure 7 As shown, the corner connection speed processing method includes steps 702 to 704.

[0172] Step 702: Obtain the trajectory length information of the processing trajectory.

[0173] Step 704: Adjust the planned corner connection speed of the sub-processing trajectory based on the trajectory length information and interpolation cycle.

[0174] The trajectory length information can be the remaining permissible machining length in the machining trajectory; the interpolation cycle can be the time taken to complete a single interpolation. Adjusting the corner connection speed of the machining trajectory based on the trajectory length information and the interpolation cycle includes the following scenarios: if the trajectory length completed within one interpolation cycle at the current corner connection speed is greater than the remaining permissible machining length in the machining trajectory, then the corner connection speed is updated with the speed corresponding to one interpolation cycle.

[0175] During interpolation, the displacement is related to an integer number of interpolation cycles. That is, the displacement may correspond to one interpolation cycle or be the sum of displacements corresponding to two or more interpolation cycles. To ensure that the remaining allowable machining length in the machining trajectory can meet the interpolator's execution requirements, for displacements less than one interpolation cycle, the current corner connection speed must be reduced to meet the corner connection speed required for at least one interpolation cycle, thereby achieving the desired machining speed and improving laser machining accuracy.

[0176] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least one sub-step described above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. It should be noted that the different embodiments described above can be combined with each other.

[0177] Figure 8 This is a schematic block diagram of the corner connection speed processing device in one embodiment.

[0178] In this embodiment, as Figure 8As shown, the corner connection speed processing device includes a constraint speed acquisition module 20, a local extremum determination module 40, and a connection speed determination module 60.

[0179] The constraint speed acquisition module 20 is used to acquire the corner constraint speed of adjacent sub-processing trajectories.

[0180] The local extremum determination module 40 is connected to the constraint velocity acquisition module 20 and is used to determine the local extremum of the corner constraint velocity based on the corner constraint velocity.

[0181] The connection speed determination module 60 is connected to the constraint speed acquisition module 20 and the local extremum determination module 40, respectively. It is used to determine the planned corner connection speed of the sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory. The local extremum of the corner constraint speed is the speed of one end of the sub-processing trajectory, and the planned corner connection speed is the speed of the other end of the sub-processing trajectory.

[0182] In this embodiment, each module is used to execute Figure 1 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0183] The corner connection speed processing device provided in this embodiment obtains the corner constraint speed of adjacent sub-processing trajectories through the constraint speed acquisition module 20; the local extremum determination module 40, connected to the constraint speed acquisition module 20, determines the local extremum of the corner constraint speed based on the corner constraint speed; the connection speed determination module 60, connected to the constraint speed acquisition module 20 and the local extremum determination module 40 respectively, determines the planned corner connection speed of the sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory; the local extremum of the corner constraint speed is the speed of one endpoint of the sub-processing trajectory, and the planned corner connection speed is the speed of the other endpoint of the sub-processing trajectory.

[0184] As described above, the local extremum of the corner constraint velocity is the velocity of one endpoint of the sub-processing trajectory. This local extremum represents a local minimum or maximum. Based on this local extremum (i.e., the velocity of one endpoint of the sub-processing trajectory), and combined with the velocity planning model data of the sub-processing trajectory, the planned corner connection velocity (i.e., the velocity of the other endpoint of the sub-processing trajectory) is determined using the corner constraint velocity as a constraint. This ensures that the velocity of the other endpoint of the sub-processing trajectory is neither too high nor too low, and that the velocities of both endpoints of the sub-processing trajectory meet the requirements of the aforementioned velocity planning model data. This prevents processing equipment (such as cutting equipment) from experiencing processing errors or incomplete processing (e.g., over-cutting or under-cutting) during actual processing, thus improving processing quality. This device determines the planned corner connection velocity that satisfies the velocity planning model data through the local extremum of the corner constraint velocity, and uses both the local extremum and the planned corner connection velocity as the velocities of the two endpoints of the sub-processing trajectory. This ensures that the velocities of both endpoints of the sub-processing trajectory meet the requirements of the velocity planning model data, thereby guaranteeing the continuity of the corner connection velocity and improving the problem of over-processing or under-processing, effectively improving laser processing accuracy.

[0185] Figure 9 This is a schematic block diagram of the specific structure of the connection speed determination module 60 in one embodiment.

[0186] In this embodiment, as Figure 9 As shown, the connection speed determination module 60 includes a model and parameter acquisition unit 620, a model speed determination unit 640, and a planning speed determination unit 660.

[0187] The model and parameter acquisition unit 620 is used to acquire the speed planning model and trajectory parameters of the sub-processing trajectory.

[0188] The model speed determination unit 640 is connected to the model and parameter acquisition unit 620. It is used to input the local extreme value of the corner constraint speed and the trajectory parameters into the speed planning model to determine the model corner connection speed of the sub-processing trajectory.

[0189] The planning speed determination unit 660 is connected to the model speed determination unit 640 and is used to determine the planning corner connection speed of the sub-processing trajectory based on the corner connection speed of the model, with the corner constraint speed as the constraint condition.

[0190] In this embodiment, each unit is used to perform Figure 3 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 3 as well as Figure 3 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0191] The corner connection speed processing device provided in this embodiment reads preset parameters such as the speed planning model and trajectory parameters through a controller; inputs the local extreme value of the corner constraint speed and trajectory parameters into the speed planning model, and outputs the model corner connection speed after calculation; compares the magnitude of the corner constraint speed and the model corner connection speed, and determines the smaller or larger value as the planned corner connection speed. Through the above-described corner connection speed processing method, while ensuring that the planned corner connection speed meets the requirements of the speed planning model and trajectory parameters, it also meets the operational requirements of the machine tool and programming software kernel, effectively improving the continuity and executability of the corner connection speed, thereby mitigating the problems of over-processing or under-processing, and ultimately improving the accuracy of laser processing.

[0192] Figure 10 This is a schematic block diagram of the specific structure of the connection speed determination module 60 in one embodiment.

[0193] In this embodiment, as Figure 10 As shown, the connection speed determination module 60 includes a model and parameter acquisition unit 620, an extreme value sorting unit 630, a model speed determination unit 640, and a planning speed determination unit 660.

[0194] The model and parameter acquisition unit 620 is used to acquire the speed planning model and trajectory parameters of the sub-processing trajectory.

[0195] The extreme value sorting unit 630 is connected to the model and parameter acquisition unit 620 and is used to sort the local extreme values ​​of corner constraint velocity according to their magnitude to obtain the extreme value sorting.

[0196] The model speed determination unit 640 is connected to the model and parameter acquisition unit 620 and the extreme value sorting unit 630 respectively. It is also used to input the local extreme value of the corner constraint speed and the trajectory parameters into the speed planning model according to the extreme value sorting, and determine the model corner connection speed of the sub-processing trajectory.

[0197] The planning speed determination unit 660 and the model speed determination unit 640 are also used to determine the planning corner connection speed of the sub-processing trajectory based on the corner connection speed of the model, using the corner constraint speed as a constraint condition.

[0198] In this embodiment, each unit is used to perform Figure 4 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 4 as well as Figure 4 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0199] In one embodiment, the connection speed determination module 60 further includes a constraint speed update unit 670; the constraint speed update unit 670 is connected to the planning speed determination unit 660, and is used to update the corresponding corner constraint speed according to the determined planning corner connection speed after determining a planning corner connection speed, and subsequently determine the planning corner connection speed of the corresponding sub-processing trajectory using the updated corner constraint speed as a constraint condition.

[0200] In one embodiment, the model speed determination unit 640 is specifically used to sort the trajectory parameters according to the minimum values, input the local minimum values ​​of the corner maximum speed into the speed planning model from small to large, and determine the model corner connection speed of the sub-processing trajectory.

[0201] In one embodiment, the model velocity determination unit 640 is further configured to sort the trajectory parameters according to the maximum values, input the local maximum values ​​of the corner maximum velocity into the velocity planning model from large to small, and iteratively determine the model corner connection velocity of the sub-processing trajectory.

[0202] In one embodiment, the model speed determination unit 640 is further configured to, starting from the sub-processing trajectory where the local minimum of the maximum speed of the first corner is located, input the local minimum of the maximum speed of each sub-processing trajectory into the speed planning model and input the corresponding trajectory parameters into the speed planning model to determine the model corner connection speed of each sub-processing trajectory.

[0203] In one embodiment, the model speed determination unit 640 is further configured to input the local minimum value of the corner maximum speed corresponding to each sub-processing trajectory into the speed planning model and input the corresponding trajectory parameters into the speed planning model, and determine the model corner connection speed of each sub-processing trajectory through forward speed planning and reverse speed planning.

[0204] In this embodiment, each unit is used to perform the steps in the corresponding embodiments described above. For details, please refer to the relevant descriptions in the corresponding embodiments described above, which will not be repeated here.

[0205] Figure 11 This is a schematic block diagram of the specific structure of the local extremum determination module 40 in one embodiment.

[0206] In this embodiment, as Figure 11 As shown, the local extremum determination module 40 includes a constraint velocity setting unit 420 and a local extremum acquisition unit 440.

[0207] The constraint speed setting unit 420 is used to set the starting speed and ending speed of each sub-processing trajectory as the corner constraint speed.

[0208] The local extremum acquisition unit 440 is connected to the constraint speed setting unit 420 and is used to acquire the local extremum of the corner constraint speed according to the magnitude relationship of the constraint speeds of adjacent corners.

[0209] In this embodiment, each unit is used to perform Figure 5 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 5 as well as Figure 5 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0210] In one embodiment, the local extremum acquisition unit 440 is specifically used to determine an extremum from each of the P adjacent corner constraint velocities as a local extremum of the corner constraint velocity, from the first corner constraint velocity to the last corner constraint velocity, where P is an integer greater than or equal to 3.

[0211] Figure 12 This is a schematic block diagram of the specific structure of the constraint speed acquisition module 20 in one embodiment.

[0212] In this embodiment, as Figure 12 As shown, the constraint speed acquisition module 20 includes a geometric information acquisition unit 220, a corner type determination unit 240, and a constraint determination unit 260.

[0213] The geometric information acquisition unit 220 is used to acquire the geometric information of the sub-processing trajectory.

[0214] Corner type determination unit 240 is used to determine the geometric corner type of adjacent sub-processing trajectories.

[0215] The constraint determination unit 260 is connected to the geometric information acquisition unit 220 and the corner type determination unit 240 respectively, and is used to determine the corner constraint speed of adjacent sub-processing trajectories according to the geometric corner type and geometric information.

[0216] In this embodiment, each unit is used to perform Figure 6 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 6 as well as Figure 6 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0217] In one embodiment, the constraint determination unit 260 is specifically used for the following:

[0218] When the geometric corner type is a corner formed by the connection of straight lines and the included angle between adjacent sub-processing trajectories is zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the full trajectory constraint speed of the processing trajectory.

[0219] When the geometric corner type is a corner formed by the connection of two straight lines, and the included angle between adjacent sub-processing trajectories is not zero, the corner constraint velocity of the adjacent sub-processing trajectories is set to zero.

[0220] When the geometric corner type is a corner formed by the connection of a straight line and an arc or a corner formed by the connection of an arc and a straight line, and the included angle between adjacent sub-processing trajectories is zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the full trajectory constraint speed and centripetal speed of the processing trajectory.

[0221] When the geometric corner type is a corner formed by the connection of a straight line and an arc or a corner formed by the connection of an arc and a straight line, and the included angle between adjacent sub-machining trajectories is not zero, the corner constraint speed of the adjacent sub-machining trajectories is determined based on the full trajectory constraint speed, centripetal speed, and included angle between adjacent sub-machining trajectories. Or

[0222] When the geometric corner type is a corner formed by the connection of two arcs and the included angle between adjacent sub-processing trajectories is zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the minimum value of the full trajectory constraint speed and centripetal speed of the processing trajectory.

[0223] When the geometric corner type is a corner formed by the connection of two arcs, and the included angle between adjacent sub-processing trajectories is not zero, the corner constraint speed of adjacent sub-processing trajectories is determined based on the full trajectory constraint speed, the minimum centripetal speed, and the included angle between adjacent sub-processing trajectories.

[0224] In this embodiment, the constraint determination unit 260 is used to execute the steps in the corresponding embodiments described above. For details, please refer to the relevant descriptions in the corresponding embodiments described above, which will not be repeated here.

[0225] Figure 13 This is a schematic block diagram of the corner connection speed processing device in one embodiment.

[0226] In this embodiment, as Figure 13 As shown, the corner connection speed processing device also includes a trajectory length acquisition module 30 and a planning speed adjustment module 50.

[0227] The trajectory length acquisition module 30 is used to acquire the trajectory length information of the processing trajectory.

[0228] The planning speed adjustment module 50 is connected to the trajectory length acquisition module 30 and is used to adjust the planning corner connection speed of the sub-processing trajectory according to the trajectory length information and the interpolation cycle.

[0229] In this embodiment, each unit is used to perform Figure 7 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 7 as well as Figure 7 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0230] The division of the various modules in the above-mentioned corner connection speed processing device is only for illustrative purposes. In other embodiments, the corner connection speed processing device can be divided into different modules as needed to complete all or part of the functions of the above-mentioned corner connection speed processing device.

[0231] Specific limitations regarding the corner connection speed processing device can be found in the limitations of the corner connection speed processing method described above, and will not be repeated here. Each module in the aforementioned corner connection speed processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the processing equipment in hardware form or independently of it, or stored in the memory of the processing equipment in software form, so that the processor can call and execute the corresponding operations of each module.

[0232] Figure 14 This is a schematic diagram of the processing equipment in one embodiment.

[0233] In this embodiment, as Figure 14 As shown, the processing equipment includes a memory A1 and a processor A2; it may also include a display screen A3, a communication interface, and a bus.

[0234] The memory A1, processor A2, display screen A3, and communication interface can communicate with each other via a bus; the display screen A3 is configured to display the user operation interface preset in the initial setting mode, and the display screen A3 can also display the process control window; the communication interface can transmit information; the memory A1 stores computer programs, and the processor A2 can call the logical instructions in the memory A1 to execute the methods in the above embodiments.

[0235] Furthermore, the logic instructions in the aforementioned memory A1 can be implemented as software functional units and, when sold or used as independent workpieces, can be stored in a computer-readable storage medium.

[0236] Memory A1, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of this application. Processor A2 executes functional applications and data processing by running the software programs, instructions, or modules stored in memory A1, thereby implementing the methods in the above embodiments.

[0237] Memory A1 includes a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, memory A1 may include high-speed random access memory and may also include non-volatile memory.

[0238] Processor A2 can be a central processing unit (CPU), or 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.

[0239] This application also provides a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the methods described above.

[0240] This application also provides a computer program product that, when run on a terminal device, causes the terminal device to execute the methods described in the above embodiments.

[0241] The corner connection speed processing method, apparatus, processing equipment, and readable storage medium provided in the above embodiments determine the planned corner connection speed that satisfies the speed planning model data by using the local extremum of the corner constraint speed. The local extremum of the corner constraint speed and the planned corner connection speed are respectively used as the speeds of the two endpoints of the sub-processing trajectory. This ensures that the speeds of the two endpoints of the sub-processing trajectory meet the requirements of the speed planning model data, thereby guaranteeing the continuity of the corner connection speed. This improves the problem of over-processing or under-processing, effectively improves the accuracy of laser processing, and has significant economic and practical value.

[0242] Any references to memory, storage, databases, or other media used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0243] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0244] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A corner joining speed processing method applied to a machining track including a plurality of sub-machining tracks, characterized by, include: Obtain the corner constraint speed of adjacent sub-processing trajectories; The local extreme value of the corner constraint velocity is determined based on the corner constraint velocity. Based on the corner constraint speed, the local extreme value of the corner constraint speed, and the speed planning model data of the sub-processing trajectory, the planned corner connection speed of the sub-processing trajectory is determined; The local extreme value of the corner constraint velocity is the velocity of one endpoint of the sub-processing trajectory, and the planned corner connection velocity is the velocity of the other endpoint of the sub-processing trajectory; The step of determining the planned corner connection speed of the sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory includes: Obtain the speed planning model and trajectory parameters of the sub-processing trajectory; The corner constraint speed local extreme value and the trajectory parameters are input into the speed planning model to determine the model corner connection speed of the sub-processing trajectory; Using the corner constraint speed as a constraint condition, the planned corner connection speed of the sub-processing trajectory is determined based on the corner connection speed of the model.

2. The corner stitching speed processing method according to claim 1, characterized by, The step of determining the planned corner connection speed of the sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory further includes: Obtain the speed planning model and trajectory parameters of the sub-processing trajectory; The local extrema of the corner constraint velocity are sorted according to their values ​​to obtain the extremum sort; Based on the extreme value sorting, the local extreme values ​​of the corner constraint speed and the trajectory parameters are input into the speed planning model to determine the model corner connection speed of the sub-processing trajectory; Using the corner constraint speed as a constraint condition, the planned corner connection speed of the sub-processing trajectory is determined based on the corner connection speed of the model.

3. The corner stitching speed processing method according to claim 2, characterized by, The step of determining the planned corner connection speed of the sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory further includes: after determining a planned corner connection speed, updating the corresponding corner constraint speed according to the determined planned corner connection speed, and subsequently determining the planned corner connection speed of the corresponding sub-processing trajectory using the updated corner constraint speed as a constraint condition.

4. The corner connection speed processing method according to claim 3, characterized in that, The step of obtaining the corner constraint speed of adjacent sub-processing trajectories specifically involves obtaining the maximum corner speed of adjacent sub-processing trajectories. The step of determining the local extreme value of the corner constraint velocity based on the corner constraint velocity specifically involves: determining the local minimum value of the maximum corner velocity based on the maximum corner velocity. The process of sorting the local extreme values ​​of the corner constraint velocity according to their magnitude to obtain the extreme value sorting is specifically as follows: sorting the local minimum values ​​of the maximum corner velocity according to their magnitude to obtain the minimum value sorting. The step of sorting by extreme values, inputting the local extreme values ​​of the corner constraint speed and the trajectory parameters into the speed planning model, and determining the corner connection speed of the sub-processing trajectory model specifically involves: sorting by the minimum values, inputting the trajectory parameters into the speed planning model, and inputting the local minimum values ​​of the corner maximum speed from smallest to largest into the speed planning model to determine the corner connection speed of the sub-processing trajectory model.

5. The corner connection speed processing method according to claim 4, characterized in that, The step of sorting the trajectory parameters according to the minimum values, inputting the local minimum values ​​of the corner maximum speed into the velocity planning model, and inputting the local minimum values ​​of the corner maximum speed into the velocity planning model in ascending order to determine the corner connection speed of the sub-processing trajectory includes: For the sub-processing trajectories between two adjacent local minima of the maximum corner speed, sorted from smallest to largest, starting from the sub-processing trajectory where the first local minima of the maximum corner speed is located, the local minima of the maximum corner speed corresponding to each sub-processing trajectory is input into the speed planning model, and the corresponding trajectory parameters are input into the speed planning model to determine the model corner connection speed of each sub-processing trajectory.

6. The corner connection speed processing method according to claim 5, characterized in that, The step of inputting the local minimum value of the maximum corner speed corresponding to each sub-processing trajectory into the speed planning model and inputting the corresponding trajectory parameters into the speed planning model to determine the model corner connection speed of each sub-processing trajectory includes: The local minimum value of the maximum corner speed corresponding to each sub-processing trajectory is input into the speed planning model, and the corresponding trajectory parameters are input into the speed planning model. Through forward speed planning and reverse speed planning, the model corner connection speed of each sub-processing trajectory is determined.

7. The corner connection speed processing method according to any one of claims 1 to 6, characterized in that, The step of determining the local extremum of the corner constraint velocity based on the corner constraint velocity specifically includes: The starting speed and ending speed of each sub-processing trajectory are used as corner constraint speeds; Based on the magnitude relationship of the adjacent corner constraint velocities, the local extremum of the corner constraint velocity is obtained.

8. The corner connection speed processing method according to claim 7, characterized in that, The step of obtaining the local extreme value of the corner constraint speed based on the magnitude relationship of the adjacent corner constraint speeds is as follows: from the first corner constraint speed to the last corner constraint speed, P adjacent corner constraint speeds are grouped together, and an extreme value is determined from each group as the local extreme value of the corner constraint speed, where P is an integer greater than or equal to 3.

9. The corner connection speed processing method according to any one of claims 1 to 6, characterized in that, The step of obtaining the corner constraint speed of adjacent sub-processing trajectories includes: Obtain the geometric information of the sub-processing trajectory; Determine the geometric corner type of adjacent sub-processing trajectories; Based on the geometric corner type and the geometric information, the corner constraint speed of the adjacent sub-processing trajectory is determined.

10. The corner connection speed processing method according to claim 9, characterized in that, The geometric corner types include corners formed by connecting straight lines, corners formed by connecting straight lines and arcs, corners formed by connecting arcs and straight lines, and corners formed by connecting arcs and arcs. The geometric information is the angle between adjacent sub-processing trajectories. Determining the corner constraint speed of the adjacent sub-processing trajectories based on the geometric corner types and the geometric information includes: When the geometric corner type is a corner formed by connecting straight lines and the included angle between adjacent sub-processing trajectories is zero, the corner constraint speed of the adjacent sub-processing trajectory is determined according to the full trajectory constraint speed of the processing trajectory. When the geometric corner type is a corner formed by the connection of two straight lines, and the included angle between the adjacent sub-processing trajectories is not zero, the corner constraint velocity of the adjacent sub-processing trajectories is zero; or When the geometric corner type is a corner formed by the connection of a straight line and an arc or a corner formed by the connection of an arc and a straight line, and the included angle between the adjacent sub-processing trajectories is zero, the corner constraint speed of the adjacent sub-processing trajectory is determined according to the full trajectory constraint speed and centripetal speed of the processing trajectory. When the geometric corner type is a corner formed by the connection of a straight line and an arc or a corner formed by the connection of an arc and a straight line, and the included angle between the adjacent sub-processing trajectories is not zero, the corner constraint speed of the adjacent sub-processing trajectories is determined based on the full trajectory constraint speed, centripetal speed, and included angle between the adjacent sub-processing trajectories; or When the geometric corner type is a corner formed by connecting arcs and the included angle between adjacent sub-processing trajectories is zero, the corner constraint speed of the adjacent sub-processing trajectory is determined based on the minimum value of the full trajectory constraint speed and the centripetal speed of the processing trajectory. When the geometric corner type is a corner formed by the connection of two arcs, and the included angle between the adjacent sub-processing trajectories is not zero, the corner constraint speed of the adjacent sub-processing trajectories is determined based on the full trajectory constraint speed, the minimum centripetal speed of the processing trajectory, and the included angle between the adjacent sub-processing trajectories.

11. The corner connection speed processing method according to any one of claims 1 to 6, characterized in that, Also includes: Obtain the trajectory length information of the processing trajectory; Based on the trajectory length information and interpolation cycle, adjust the planned corner connection speed of the sub-processing trajectory.

12. A corner connection speed processing device, characterized in that, include: The constraint speed acquisition module is used to acquire the corner constraint speed of adjacent sub-processing trajectories; A local extremum determination module, connected to the constraint velocity acquisition module, is used to determine the local extremum of the corner constraint velocity based on the corner constraint velocity. The connection speed determination module is connected to the constraint speed acquisition module and the local extremum determination module, respectively, and is used to determine the planned corner connection speed of the sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory; the local extremum of the corner constraint speed is the speed of one endpoint of the sub-processing trajectory, and the planned corner connection speed is the speed of the other endpoint of the sub-processing trajectory; The step of determining the planned corner connection speed of the sub-processing trajectory based on the corner constraint speed, the local extremum of the corner constraint speed, and the speed planning model data of the sub-processing trajectory includes: Obtain the speed planning model and trajectory parameters of the sub-processing trajectory; The corner constraint speed local extreme value and the trajectory parameters are input into the speed planning model to determine the model corner connection speed of the sub-processing trajectory; Using the corner constraint speed as a constraint condition, the planned corner connection speed of the sub-processing trajectory is determined based on the corner connection speed of the model.

13. A processing equipment, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1 to 11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 11.

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