A method, apparatus, and computer-readable medium for generating surface trajectories.

Abstract

This invention discloses a method for generating surface trajectories. The method includes: first, extracting all seed surfaces on a target workpiece using a model to generate a seed surface set; wherein, the seed surfaces indicate surfaces that are tangent to at least one adjacent surface on the target workpiece; second, extracting all boundaries from the seed surface set to generate a boundary set; then, traversing all boundaries in the boundary set and querying boundaries with two opposite orientations to obtain the boundaries to be processed; finally, performing unified orientation annotation processing on the boundaries to be processed to generate a first robot machining trajectory. This embodiment automatically extracts all boundaries from the seed surface set using a model and generates a first robot machining trajectory based on the annotation processing results after determining the boundaries to be processed. This solves the problem of low robot machining efficiency caused by manually extracting holes on the surface in traditional technologies, improving the generation efficiency and accuracy of surface machining trajectories.

Description

Technical Field

[0001] This invention belongs to the field of robot manufacturing technology, and particularly relates to a method, apparatus and computer-readable medium for generating curved surface trajectories. Background Technology

[0002] With the development of additive manufacturing and advanced forming manufacturing technologies, the structure of parts is becoming increasingly complex, the amount of material to be removed during part machining is decreasing, and the requirements for machining curved surfaces are becoming increasingly stringent. This makes it difficult for existing machining equipment and methods to meet the demands of complex, high-quality, and high-efficiency curved surface machining in production practice. Due to their flexibility and low cost, robots are becoming increasingly prevalent in machining applications. Toolpath optimization in curved surface machining is a complex problem. In the operating space of curved surface machining, a tool requires a maximum of five degrees of freedom, while an industrial robot has at least six. Therefore, in robotic machining of curved surfaces, redundant degrees of freedom can be used to optimize the entire machining process to achieve the highest technical and economic benefits.

[0003] In fields such as robotic hole cutting, complex holes are often composed of the boundaries of multiple curved surfaces on the workpiece. Previously, when generating machining trajectories for these holes in offline programming software, it was necessary to manually extract the surfaces. However, when the number of surfaces is very large, manual extraction becomes extremely time-consuming and labor-intensive. Therefore, there is an urgent need for an automated method for generating surface trajectories. Summary of the Invention

[0004] To address the aforementioned problems in the existing technology, embodiments of the present invention provide a method and apparatus for generating surface trajectories, which can realize the automatic generation of surface trajectories and improve the efficiency of surface trajectory generation.

[0005] According to a first aspect of the present invention, a method for generating a surface trajectory is provided. The method includes: extracting all seed surfaces on a target workpiece using a model to generate a seed surface set; wherein the seed surfaces are used to indicate surfaces that are tangent to at least one adjacent surface on the target workpiece; extracting all boundaries in the seed surface set to generate a boundary set; wherein the boundaries are used to indicate closed loops formed by connecting at least one boundary edge end to end; traversing all boundaries in the boundary set and querying boundaries with two opposite orientations to obtain the boundary to be processed; and performing uniform orientation annotation processing on the boundary to be processed to generate a first robot machining trajectory.

[0006] Optionally, the method further includes: generating a second robot machining trajectory for boundaries with the same orientation; and generating a surface machining trajectory based on the first robot machining trajectory and the second robot machining trajectory.

[0007] Optionally, all seed surfaces on the target workpiece are extracted using the model to generate a seed surface set; this includes: extracting any surface of the target workpiece using the model and using the surface as a seed surface; traversing the surfaces of the target workpiece starting from the seed surface to obtain several seed surfaces; and adding the several seed surfaces to a list to generate a seed surface set.

[0008] Optionally, the step of traversing the surface of the target workpiece starting from the seed surface to obtain several seed surfaces includes: starting from the seed surface, obtaining adjacent surfaces adjacent to the seed surface to obtain at least two adjacent surfaces; for any one of the adjacent surfaces: determining whether the adjacent surface is tangent to the seed surface; if the determination result indicates that the adjacent surface is tangent to the seed surface, then the adjacent surface is used as a new seed surface; based on the new seed surface, the traversal process of the surface of the target workpiece continues until no seed surface can be found, then the traversal operation ends, generating several seed surfaces.

[0009] Optionally, determining whether the adjacent surface is tangent to the seed surface includes: obtaining the intersection line between the adjacent surface and the seed surface; selecting several target points from the intersection line according to a preset arc length; for any target point: obtaining the first tangent plane of the target point on the adjacent surface and the second tangent plane of the target point on the seed surface; determining whether the first tangent plane and the second tangent plane coincide; when the first tangent plane and the second tangent plane corresponding to each target point coincide, it is determined that the adjacent surface and the seed surface are tangent.

[0010] Optionally, if the first tangent plane and the second tangent plane of one of the target points do not coincide, then it is determined that the adjacent surface and the seed surface are not tangent.

[0011] Optionally, the step of performing unified orientation annotation on the boundary to be processed to generate a first robot machining trajectory includes: obtaining the theoretical orientation of the boundary to be processed in the boundary set; selecting an orientation different from the theoretical orientation from two opposite orientations corresponding to the boundary to be processed to generate an orientation to be adjusted; obtaining the boundary edge corresponding to the orientation to be adjusted and performing reverse orientation annotation on the boundary edge; and generating a first robot machining trajectory for the boundary to be processed based on the annotation result.

[0012] According to a second aspect of the present invention, a surface trajectory generation apparatus is also provided. The apparatus includes: a first generation module, configured to extract all seed surfaces on a target workpiece using a model to generate a seed surface set; wherein the seed surfaces are used to indicate surfaces that are tangent to at least one adjacent surface on the target workpiece; an extraction module, configured to extract all boundaries in the seed surface set to generate a boundary set; wherein the boundaries are used to indicate closed loops formed by connecting at least one boundary edge end to end; a query module, configured to traverse all boundaries in the boundary set and query boundaries with two opposite orientations to obtain the boundary to be processed; and a second generation module, configured to perform uniform orientation annotation processing on the boundary to be processed to generate a first robot machining trajectory.

[0013] Optionally, the apparatus further includes: a third generation module for generating a second robot machining trajectory for boundaries having the same orientation; and a fourth generation module for generating a surface machining trajectory based on the first robot machining trajectory and the second robot machining trajectory.

[0014] According to a third aspect of the present invention, an electronic device is also provided, the electronic device comprising: one or more processors; and a memory for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to perform the method as described in the first aspect.

[0015] According to a fourth aspect of the present invention, a computer-readable medium is also provided, on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in the first aspect.

[0016] This invention provides a method for generating surface trajectories. The method includes: first, extracting all seed surfaces on a target workpiece using a model to generate a seed surface set; wherein the seed surfaces are used to indicate surfaces that are tangent to at least one adjacent surface on the target workpiece; second, extracting all boundaries in the seed surface set to generate a boundary set; wherein the boundaries are used to indicate closed loops formed by connecting at least one boundary edge end to end; then, traversing all boundaries in the boundary set and querying boundaries with two opposite orientations to obtain the boundaries to be processed; finally, performing uniform orientation annotation processing on the boundaries to be processed to generate a first robot machining trajectory. This embodiment automatically extracts all boundaries of the seed surface set using a model and generates a first robot machining trajectory based on the annotation processing results after determining the boundaries to be processed. This solves the problem of low robot machining efficiency caused by manually extracting holes on the surface in traditional technologies, and improves the robot's machining efficiency and accuracy for curved surfaces. Attached Figure Description

[0017] The following sections will describe some specific embodiments of the invention in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0018] Figure 1 This is a flowchart illustrating a method for generating a surface trajectory according to an embodiment of the present invention.

[0019] Figure 2 A flowchart illustrating a method for generating a surface trajectory according to another embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the target workpiece in an application embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of a surface trajectory generation device provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] like Figure 1 The diagram shown is a flowchart illustrating a method for generating a surface trajectory according to an embodiment of the present invention.

[0024] A method for generating surface trajectories, the method comprising at least the following steps:

[0025] S101, use the model to extract all seed surfaces on the target workpiece and generate a set of seed surfaces; wherein, the seed surfaces are used to indicate the surfaces that have a tangent relationship with at least one adjacent surface on the target workpiece;

[0026] S102, extract all boundaries from the seed face set to generate a boundary set; wherein, the boundary is used to indicate a closed loop formed by connecting at least one boundary edge end to end;

[0027] S103, traverse all boundaries in the boundary set, query the boundaries with two opposite orientations, and obtain the boundaries to be processed;

[0028] S104: Perform uniform orientation annotation on the boundary to be processed to generate the first robot processing trajectory.

[0029] In S101 to S103, the extraction operations are all performed through the computer-based model. Boundaries include holes on curved surfaces. Normally, a single hole on a curved surface has only one orientation, but some holes are distributed across two curved surfaces. Therefore, a hole formed by two curved surfaces may have one orientation or two orientations; the model needs to perform calculations for this hole to obtain the desired orientation.

[0030] In S104, when hole A has a first orientation and a second orientation, and the first and second orientations are in opposite directions, the theoretical orientation of hole A is used as the reference for labeling the first or second orientation. For example, when the theoretical orientation of hole A is the same as the first orientation, the theoretical orientation of hole A is used as the reference for labeling the second orientation.

[0031] Here, the annotation process is as follows: the hole consists of two parts. The first part of the hole has a first orientation, from a to b; the second part of the hole has a second orientation, also from a to b. The first part of the hole and the second part of the hole have opposite orientations. Since the theoretical orientation of the hole is the first orientation, the starting point of the second part of the hole is labeled as the ending point, and the ending point of the second part of the hole is labeled as the starting point. Finally, when the model generates the trajectory, it generates the first robot trajectory based on the annotations for the hole.

[0032] It should be noted that the target workpiece may have one hole or several holes; this is not limited here.

[0033] This implementation method can automatically and continuously extract smooth tangent surfaces through the model, thereby enabling the model to automatically extract holes located on different surfaces, improving the efficiency and accuracy of hole trajectory generation within the surface; it solves the problem of time-consuming and labor-intensive manual extraction of holes on the surface in the prior art, and improves the robot's processing efficiency for curved surfaces.

[0034] like Figure 2 The diagram shown is a flowchart illustrating a method for generating a surface trajectory according to another embodiment of the present invention.

[0035] A method for generating surface trajectories includes at least the following steps:

[0036] S201, use the model to extract any surface of the target workpiece and use the surface as a seed surface; wherein, the seed surface is used to indicate the surface that has a tangent relationship with at least one adjacent surface on the target workpiece;

[0037] S202: Starting from the seed surface, traverse the surface of the target workpiece to obtain several seed surfaces; add the seed surfaces to the list to generate a seed surface set.

[0038] S203, extract all boundaries from the seed face set to generate a boundary set; wherein, the boundary is used to indicate a closed loop formed by connecting at least one boundary edge end to end;

[0039] S204: Traverse all boundaries in the boundary set, query the boundaries with two opposite orientations, and obtain the boundaries to be processed;

[0040] S205, Obtain the theoretical orientation of the boundary to be processed in the boundary set; and select an orientation that is different from the theoretical orientation from the two opposite orientations corresponding to the boundary to be processed to generate the orientation to be adjusted;

[0041] S206, Obtain the boundary edge corresponding to the orientation to be adjusted; and perform reverse orientation annotation on the boundary edge;

[0042] S207, Based on the annotation results, generate a first robot machining trajectory for the boundary to be processed; and generate a second robot machining trajectory for the boundary with the same orientation;

[0043] S208, based on the machining trajectory of the first robot and the machining trajectory of the second robot, generate the surface machining trajectory.

[0044] In S202, the step of traversing the surface of the target workpiece starting from the seed surface to obtain several seed surfaces includes: starting from the seed surface, obtaining adjacent surfaces adjacent to the seed surface to obtain at least two adjacent surfaces; for any one of the adjacent surfaces: determining whether the adjacent surface is tangent to the seed surface; if the determination result indicates that the adjacent surface is tangent to the seed surface, then the adjacent surface is used as a new seed surface; based on the new seed surface, the traversal process of the surface of the target workpiece continues until no seed surface can be found, then the traversal operation ends, generating several seed surfaces.

[0045] In a preferred embodiment of this example, determining whether the adjacent surface is tangent to the seed surface includes: obtaining the intersection line between the adjacent surface and the seed surface; selecting several target points from the intersection line according to a preset arc length; for any target point: obtaining a first tangent plane of the target point on the adjacent surface and a second tangent plane of the target point on the seed surface; determining whether the first tangent plane and the second tangent plane coincide; if the first tangent plane and the second tangent plane corresponding to each target point coincide, then it is determined that the adjacent surface and the seed surface are tangent; if the first tangent plane and the second tangent plane of one of the several target points do not coincide, then it is determined that the adjacent surface and the seed surface are not tangent.

[0046] Therefore, this embodiment can automatically search for curved surfaces and automatically generate trajectories for each curved surface, thereby improving the programming efficiency of the robot for curved surface trajectories.

[0047] The following section provides a detailed explanation of a surface trajectory generation method provided in this embodiment, using specific applications as examples. For instance... Figure 3 The diagram shown is a schematic representation of the structure of the target workpiece in an application embodiment of the present invention.

[0048] A method for generating surface trajectories includes at least the following steps:

[0049] S1, extract any surface of the target workpiece using the model, and use the surface as a seed surface; wherein, the seed surface is used to indicate a surface that has a tangent relationship with at least one adjacent surface on the target workpiece;

[0050] S2, taking the seed surface as the starting point, obtain the adjacent surfaces adjacent to the seed surface, and obtain at least two adjacent surfaces;

[0051] S3, for any of the adjacent surfaces: obtain the intersection line between the adjacent surface and the seed surface; and select several target points from the intersection line according to a preset arc length;

[0052] S4, for any target point: obtain the first tangent plane of the target point on the adjacent surface and the second tangent plane of the target point on the seed surface; determine whether the first tangent plane and the second tangent plane coincide; if yes, determine that the adjacent surface and the seed surface have an intersection relationship at the target point; if no, determine that the adjacent surface and the seed surface do not have an intersection relationship at the target point.

[0053] S5, when the first tangent plane and the second tangent plane coincide at each of the target points, it is determined that the adjacent surface and the seed surface are tangent; then proceed to step S7.

[0054] S6, if the first tangent plane and the second tangent plane of one of the target points do not coincide, then it is determined that the adjacent surface and the seed surface do not have a tangent relationship.

[0055] S7, take the adjacent surface as a new seed surface; and continue to traverse the surface of the target workpiece based on the new seed surface (traversal processing, for example: steps S2 to S6) until no seed surface can be found, then end the traversal operation and generate several seed surfaces.

[0056] S8: Add several seed surfaces to the list to generate a seed surface set;

[0057] S9, extract all boundaries from the seed face set to generate a boundary set; wherein, the boundary is used to indicate at least one closed loop formed by connecting the beginning and end of the boundary edges;

[0058] S10, Traverse all boundaries in the boundary set, query boundaries with two opposite orientations, and obtain the boundaries to be processed;

[0059] S11, Obtain the theoretical orientation of the boundary to be processed in the boundary set;

[0060] S12, Select an orientation that is different from the theoretical orientation from the two opposite orientations corresponding to the boundary to be processed, and generate an orientation to be adjusted;

[0061] S13, obtain the boundary edge corresponding to the orientation to be adjusted; and perform reverse orientation labeling on the boundary edge;

[0062] S14, Based on the annotation results, generate a first robot processing trajectory for the boundary to be processed;

[0063] S15, Generate a second robot machining trajectory for boundaries with the same orientation;

[0064] S16, Based on the first robot machining trajectory and the second robot machining trajectory, generate a curved surface machining trajectory.

[0065] For example: Step 1) Extract a seed surface S, traverse each edge e of S, find another adjacent surface S1 that is different from S, and calculate the tangent surface between S and S1 on e respectively. like Coincident (The method used here is to divide e into n points according to the arc length, and calculate the tangent plane of each point on S and S1 respectively) If all n pairs of tangent planes coincide, then it is considered that the tangent planes of S and S1 on e coincide;

[0066] Step 2) Use S1 as the new seed surface and continue to execute Step 1) until all seed surfaces are found on the target workpiece, generating a set of seed surfaces denoted as C;

[0067] Step 3) Automatically identify all boundaries w of C and generate a boundary set; where a boundary is a closed loop formed by boundary edges;

[0068] Step 4) Identify the orientation of each boundary W: Let The orientation of e in S and S1 is calculated. Since the two calculated orientations have opposite directions, an orientation different from the theoretical orientation of e is selected from the two opposite orientations corresponding to e to generate an orientation to be adjusted. The boundary edge corresponding to the orientation to be adjusted is obtained. The boundary edge is labeled with reverse orientation so that the theoretical orientation of e in W is consistent with the orientation of e in S.

[0069] Step 5) Generate a robot processing path for each of the above boundaries W.

[0070] like Figure 4 The diagram shown is a structural schematic of a surface trajectory generation device provided in an embodiment of the present invention.

[0071] A surface trajectory generation device, the device 400 comprising: a first generation module 401, used to extract all seed surfaces on a target workpiece using a model to generate a seed surface set; wherein the seed surfaces are used to indicate surfaces that are tangent to at least one adjacent surface on the target workpiece; an extraction module 402, used to extract all boundaries in the seed surface set to generate a boundary set; wherein the boundaries are used to indicate closed loops formed by connecting at least one boundary edge end to end; a query module 403, used to traverse all boundaries in the boundary set and query boundaries with two opposite orientations to obtain the boundary to be processed; and a second generation module 404, used to perform uniform orientation annotation processing on the boundary to be processed to generate a first robot machining trajectory.

[0072] In a preferred embodiment, the apparatus further includes: a third generation module for generating a second robot machining trajectory for boundaries having the same orientation; and a fourth generation module for generating a surface machining trajectory based on the first robot machining trajectory and the second robot machining trajectory.

[0073] In a preferred embodiment, the first generation module includes: an extraction unit, used to extract any surface of the target workpiece using a model, and use the surface as a seed surface; a traversal unit, used to traverse the surfaces of the target workpiece starting from the seed surface to obtain several seed surfaces; and a generation unit, used to add the several seed surfaces to a list to generate a seed surface set.

[0074] In a preferred embodiment, the traversal unit includes: an acquisition subunit, used to acquire adjacent surfaces adjacent to the seed surface, starting from the seed surface, to obtain at least two adjacent surfaces; a judgment subunit, used to determine whether the adjacent surface is tangent to the seed surface for any of the adjacent surfaces; if the judgment result indicates that the adjacent surface is tangent to the seed surface, then the adjacent surface is used as a new seed surface; and a generation subunit, used to continue traversing the surface of the target workpiece based on the new seed surface until no seed surface can be found, then the traversal operation ends, generating several seed surfaces.

[0075] In a preferred embodiment, the determining subunit includes: an acquisition unit, configured to acquire the intersection line between the adjacent surface and the seed surface; a selection unit, configured to select a plurality of target points from the intersection line according to a preset arc length; a determining unit, configured to, for any target point: acquire a first tangent plane of the target point on the adjacent surface and a second tangent plane of the target point on the seed surface; determine whether the first tangent plane and the second tangent plane coincide; and a first determining unit, configured to determine that the adjacent surface and the seed surface are tangent when the first tangent plane and the second tangent plane corresponding to each target point coincide.

[0076] In a preferred embodiment, the judgment subunit further includes a second determination unit, used to determine that the adjacent surface and the seed surface are not tangent when the first tangent plane and the second tangent plane of one of the target points do not coincide.

[0077] In a preferred embodiment, the second generation module includes: a first acquisition unit, configured to acquire the theoretical orientation of the boundary to be processed in the boundary set; a first generation unit, configured to select an orientation different from the theoretical orientation from two opposite orientations corresponding to the boundary to be processed, and generate an orientation to be adjusted; a second acquisition unit, configured to acquire the boundary edge corresponding to the orientation to be adjusted; an orientation annotation unit, configured to perform reverse orientation annotation on the boundary edge; and a second generation unit, configured to generate a first robot machining trajectory for the boundary to be processed based on the annotation results.

[0078] The above-described apparatus can execute a method for generating a surface trajectory provided in an embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing a method for generating a surface trajectory. Technical details not described in detail in this embodiment can be found in the method for generating a surface trajectory provided in an embodiment of the present invention.

[0079] The present invention also provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; the processor being configured to read the executable instructions from the memory and execute the instructions to implement a method for generating a surface trajectory as described in the present invention.

[0080] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0081] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0082] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to the following embodiments of this application described in the "Exemplary Methods" section above.

[0083] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0084] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0085] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0086] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0087] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0088] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0089] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0090] 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 at least one of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0091] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for generating a curved trajectory, characterized in that, The method comprises the following steps: extracting all seed surfaces on the target workpiece by using a model to generate a seed surface set; wherein the seed surface is used to indicate a surface having a tangent relationship with at least one adjacent surface on the target workpiece; extracting all boundaries in the seed surface set to generate a boundary set; wherein the boundary is used to indicate a closed ring formed by at least one boundary edge connected head to tail; traversing all boundaries in the boundary set to query boundaries having two opposite orientations to obtain a to-be-processed boundary; uniformly orienting the to-be-processed boundary to generate a first robot machining track; extracting all seed surfaces on the target workpiece by using a model to generate a seed surface set; comprising: extracting any surface of the target workpiece by using a model, and taking the surface as a seed surface; taking the seed surface as a starting point, traversing the surfaces of the target workpiece to obtain a plurality of seed surfaces; adding the plurality of seed surfaces to a list to generate a seed surface set; taking the seed surface as a starting point, obtaining adjacent surfaces adjacent to the seed surface to obtain at least two adjacent surfaces; for any adjacent surface: judging whether the adjacent surface has a tangent relationship with the seed surface, if the judgment result represents that the adjacent surface has a tangent relationship with the seed surface, then taking the adjacent surface as a new seed surface; based on the new seed surface, continue to traverse the surfaces of the target workpiece, until no seed surface can be found, then end the traversal operation to generate a plurality of seed surfaces. further comprising:

2. The method of claim 1, wherein, generating a second robot machining track for boundaries having the same orientation; generating a surface machining track based on the first robot machining track and the second robot machining track. the judgment of whether the adjacent surface has a tangent relationship with the seed surface to obtain a judgment result; comprising:

3. The method of claim 1, wherein, obtaining an intersection line between the adjacent surface and the seed surface; selecting a plurality of target points from the intersection line according to a preset arc length; for any target point: obtaining a first tangent plane of the target point in the adjacent surface, and a second tangent plane of the target point in the seed surface; judging whether the first tangent plane and the second tangent plane coincide; when the first tangent plane and the second tangent plane corresponding to each target point coincide, it is determined that the adjacent surface and the seed surface are in a tangent relationship. when the first tangent plane and the second tangent plane of one of the plurality of target points do not coincide, it is determined that the adjacent surface and the seed surface are not in a tangent relationship.

4. The method of claim 3, wherein, the uniformly orienting the to-be-processed boundary to generate a first robot machining track; comprising:

5. The method of claim 1, wherein, obtaining a theoretical orientation of the to-be-processed boundary in the boundary set; selecting an orientation different from the theoretical orientation from the two opposite orientations corresponding to the to-be-processed boundary to generate an adjusted orientation; obtaining a boundary edge corresponding to the adjusted orientation; performing reverse orientation labeling on the boundary edge; based on the labeling result, generating a first robot machining track for the to-be-processed boundary. comprising:

6. An apparatus for generating a curved trajectory, characterized by ​ The first generation module is configured to extract all seed surfaces on the target workpiece by using the model to generate a seed surface set; wherein the seed surface is used to indicate a surface having a tangent relationship with at least one adjacent surface on the target workpiece; The extraction module is configured to extract all boundaries in the seed surface set to generate a boundary set; wherein the boundary is used to indicate a closed ring formed by at least one boundary edge connected at both ends; The query module is configured to traverse all boundaries in the boundary set to query boundaries having two opposite orientations to obtain a to-be-processed boundary; The second generation module is configured to perform uniform orientation labeling processing on the to-be-processed boundary to generate a first robot machining track; The first generation module comprises: an extraction unit configured to extract any surface of the target workpiece by using the model and take the surface as a seed surface; a traversal unit configured to take the seed surface as a starting point to traverse the surfaces of the target workpiece to obtain a plurality of seed surfaces; and a generation unit configured to add the plurality of seed surfaces to a list to generate a seed surface set; The traversal unit comprises: an acquisition subunit configured to take the seed surface as a starting point to acquire adjacent surfaces adjacent to the seed surface to obtain at least two adjacent surfaces; a judgment subunit configured to judge, for any adjacent surface, whether the adjacent surface has a tangent relationship with the seed surface, and if the judgment result indicates that the adjacent surface has a tangent relationship with the seed surface, take the adjacent surface as a new seed surface; and a generation subunit configured to continue to traverse the surfaces of the target workpiece based on the new seed surface until no seed surface can be found, and then end the traversal operation to generate a plurality of seed surfaces.

7. The apparatus of claim 6, wherein, Further comprising: The third generation module is configured to generate a second robot machining track for boundaries having the same orientation; The fourth generation module is configured to generate a surface machining track based on the first robot machining track and the second robot machining track.

8. A computer readable medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of claims 1-5.

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