A trajectory generation method, apparatus, device, and medium

Abstract

The application provides a trajectory generation method and device, equipment and a medium, comprising: scanning a template product to obtain a three-dimensional template image corresponding to the template product; obtaining a first reference surface of the template product; screening the three-dimensional template image according to the first reference surface to obtain at least one target three-dimensional template image; sequentially performing trajectory processing on the at least one target three-dimensional template image according to a target distance to obtain at least one trajectory; and generating a target trajectory according to the at least one trajectory. According to the application, the first reference surface of the template product can be obtained first, the template image meeting the requirements in the template product is determined based on the reference surface, and the trajectory is generated according to the target distance of the template image meeting the requirements. The trajectory is used for polishing the template product, the accuracy and efficiency of trajectory generation are improved, and the unit production efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic processing, in particular to a trajectory generation method, device, equipment and medium. BACKGROUND

[0002] In the conventional casting production process, when casting, the place where the molten iron is poured in, there will be a too high part, the too high part is broken, the remaining part is called a surplus root, but the surplus root is different due to the breaking ability, causing irregular ordering (high surplus root and low surplus root), the conventional equipment cannot adapt to the change of the surplus root, and due to the large variable of the work shape, the surplus root is not fixed, the fixed grinding track grinding time is long, the grinding efficiency is low, and the no surplus root is still ground, the manual teaching efficiency is low.

[0003] Therefore, there is an urgent need for a trajectory generation method for surplus root grinding trajectory. SUMMARY

[0004] In view of the above problems of the prior art, the purpose of the present application is to provide a trajectory generation method for solving the problem of low grinding efficiency in irregular areas of product castings.

[0005] According to the embodiment of the present application, the first scheme is provided: a trajectory generation method, characterized in that the method comprises: scanning a template product to obtain a three-dimensional template image corresponding to the template product; obtaining a first reference surface of the template product; filtering the three-dimensional template image according to the first reference surface to obtain at least one target three-dimensional template image; sequentially processing the at least one target three-dimensional template image according to a target distance to obtain at least one trajectory; and generating a target trajectory according to the at least one trajectory.

[0006] Further, as a more preferred embodiment of the present application, the filtering of the three-dimensional template images according to the first reference surface to obtain at least one target three-dimensional template image point comprises: taking the first reference surface as a first plane; measuring the height values of the components in the three-dimensional template images with the first plane as the reference; deleting the component images corresponding to the height values lower than a first preset height to obtain effective three-dimensional template images; retaining the component images corresponding to the height values higher than the first preset height in the effective three-dimensional template images to obtain a first target three-dimensional template image; retaining the component images corresponding to the height values higher than a second preset height in the effective three-dimensional template images to obtain a second target three-dimensional template image; retaining the component images corresponding to the height values higher than a third preset height in the effective three-dimensional template images to obtain a third target three-dimensional template image; and combining the first target three-dimensional template image, the second target three-dimensional template image and the third target three-dimensional template image to obtain at least one three-dimensional template image.

[0007] Further, as a more preferred embodiment of the present application, the generating of the target trajectory according to the at least one trajectory comprises: obtaining the target height values of each three-dimensional template image in the at least one target three-dimensional template image; and arranging the at least one trajectory in descending order of the target height values to form a target trajectory.

[0008] Further, as a more preferred embodiment of the present application, the trajectory processing of the at least one target three-dimensional template image according to the target distance in sequence to obtain at least one trajectory comprises: forming a first circle point with the target distance as the radius; uniformly copying the first circle point in the at least one target three-dimensional template image to obtain a first to-be-processed three-dimensional template image; generating at least one tool frame with the center of the first circle point as the center; and performing trajectory processing on the first to-be-processed three-dimensional template image according to the at least one tool frame to obtain at least one trajectory.

[0009] Further, as a more preferred embodiment of the present application, the at least one tool frame includes a first tool frame and a second tool frame, and the trajectory processing of the first to-be-processed three-dimensional template image according to the at least one tool frame includes: generating a plurality of first tool frames with the center of the first circular point as the center; identifying the first to-be-processed three-dimensional template image according to the plurality of first tool frames to obtain a plurality of effective points in the first to-be-processed three-dimensional template image; vertically dropping the plurality of effective points on the first reference surface to obtain a second to-be-processed three-dimensional template image; generating a plurality of second tool frames with the center of the first circular point as the center; identifying the second to-be-processed three-dimensional template image according to the second tool frames to obtain a plurality of effective points in the second to-be-processed three-dimensional template image; and performing trajectory processing on the plurality of effective points in the second to-be-processed three-dimensional template image to obtain the at least one trajectory.

[0010] Further, as a more preferred embodiment of the present application, the trajectory processing of the plurality of effective points in the second to-be-processed three-dimensional template image includes: filtering the plurality of effective points to obtain filtered effective points; establishing a first space coordinate system according to the three-dimensional template image, the first space coordinate system including an X-axis, a Y-axis, and a Z-axis, and the X-axis, the Y-axis, and the Z-axis being perpendicular to each other in pairs; moving the filtered effective points along the Z-axis by a target height to obtain a plurality of target effective points; and connecting the target effective points to obtain the at least one trajectory.

[0011] Further, as a more preferred embodiment of the present application, the filtering of the plurality of effective points includes: obtaining a first distance of each effective point in the plurality of effective points; screening out a target first distance that exceeds a preset distance threshold; and obtaining an effective point corresponding to the target first distance as a filtered effective point.

[0012] According to an embodiment of the present application, a second scheme is provided: a trajectory generation device, characterized in that the device includes: a scanning module configured to scan a template product to obtain a three-dimensional template image corresponding to the template product; an obtaining module configured to obtain a first reference surface of the template product; a screening module configured to screen the three-dimensional template image according to the first reference surface to obtain at least one target three-dimensional template image; a processing module configured to perform trajectory processing on the at least one target three-dimensional template image according to a target distance in sequence to obtain at least one trajectory; and a generating module configured to generate a target trajectory according to the at least one trajectory.

[0013] According to an embodiment of the present application, a third solution is provided by the present application, which is a computer device comprising a memory and a processor, the memory storing a computer program, the computer program being executed by the processor, the program comprising instructions for the first solution.

[0014] According to an embodiment of the present application, a fourth solution is provided by the present application, which is a computer storage medium storing one or more instructions, the one or more instructions being adapted to be loaded and executed by a processor to perform the steps of the first solution and any possible implementation thereof.

[0015] The template product is scanned first to obtain a three-dimensional template image corresponding to the template product, and a first reference surface of the template product is acquired. Then, the three-dimensional template image is filtered according to the first reference surface to obtain at least one target three-dimensional template image. Then, the at least one target three-dimensional template image is processed in a track according to a target distance to obtain at least one track. Finally, a target track is generated according to the at least one track. The first reference surface of the template product is acquired first, and the template image meeting the requirements in the template product is determined based on the reference surface. The track is generated from the template image meeting the requirements according to the target distance, and the track is used for polishing the template product. The accuracy and efficiency of track generation are improved, and the unit production efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the drawings needed to be used in the embodiments of the present application or the background art will be described below.

[0017] Figure 1 A flowchart of a track generation method provided by an embodiment of the present application;

[0018] Figure 2A A three-dimensional template image provided by an embodiment of the present application;

[0019] Figure 2B A first reference surface provided by an embodiment of the present application;

[0020] Figure 2C An effective point provided by an embodiment of the present application;

[0021] Figure 2D Another effective point provided by an embodiment of the present application;

[0022] Figure 2E A welding length provided by an embodiment of the present application;

[0023] Figure 3A flowchart of a trajectory generation method provided by an embodiment of the present application is shown in FIG. 1.

[0024] Figure 4 A structure diagram of a trajectory generation device provided by an embodiment of the present application is shown in FIG. 2.

[0025] Figure 5 An internal structure diagram of a computer device in an embodiment is shown in FIG. 3. DETAILED DESCRIPTION

[0026] In order for those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] It should be noted that when an element is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or indirectly on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0028] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or component referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0029] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of", "several" is two or more, unless otherwise explicitly specified.

[0030] It is to be understood that the structures, proportions, sizes, etc. shown in the drawings of the present disclosure are merely intended to facilitate the understanding of the present disclosure, and are not intended to limit the conditions for implementing the present disclosure. Therefore, any modification, change or adjustment of the structures, proportions or sizes, as long as it does not affect the effects and purposes of the present disclosure, shall still fall within the scope of the present disclosure.

[0031] The embodiments of the present disclosure will be described below with reference to the drawings in the embodiments of the present disclosure.

[0032] Please refer to Figure 1 , Figure 1 is a flowchart of a trajectory generation method provided by the embodiments of the present disclosure. The method can include:

[0033] 101, the computer equipment scans the template product to obtain a three-dimensional template image corresponding to the template product;

[0034] Wherein, the template product is scanned by a visual tool to obtain a template image of the template product. In an embodiment, the range of one scan is limited, and for medium or large products, it needs to be scanned for multiple times, and then the results of multiple scans are spliced to obtain a complete template image.

[0035] Wherein, the template product can be an industrial casting product with excess follow-up grinding, etc., which is not limited here.

[0036] For example, as shown in Figure 2A , Figure 2A is a three-dimensional template image corresponding to the template product.

[0037] 102, a first reference surface of the template product is obtained.

[0038] Wherein, the first reference surface is a reference plane, which can be a reference surface of any plane of the template product, or a reference surface of a plane with excess follow-up in the template product.

[0039] For example, as shown in Figure 2B , Figure 2B is the bottom of the three protruding parts in the three-dimensional template image.

[0040] 103, the three-dimensional template image is filtered according to the first reference surface to obtain at least one target three-dimensional template image.

[0041] Optionally, a first spatial coordinate system is established based on the three-dimensional template image. The first spatial coordinate system includes an X-axis, a Y-axis, and a Z-axis, wherein the X-axis, Y-axis, and Z-axis are mutually perpendicular to each other, and multiple pixels in the three-dimensional template image are obtained.

[0042] Multiple target pixels that are not on the first reference plane are selected, and the three-dimensional coordinates of the multiple target pixels in the first spatial coordinate system are obtained. The three-dimensional template image is then height-filtered according to the height values ​​of the multiple target three-dimensional coordinates to obtain target three-dimensional template images of different heights.

[0043] Specifically, based on the plane, the portion below 1.5mm above the plane is filtered out, while the image above 1.5mm is retained as it needs to be polished. Based on the plane, the image above 2.5mm is retained, and based on the plane, the image above 3.5mm is retained.

[0044] 104. Perform trajectory processing on the at least one target 3D template image in sequence according to the target distance to obtain at least one trajectory.

[0045] The target distance can be set manually or is the radius of a conventional grinder; there is no single limitation here.

[0046] For example, the target 3D template image is processed to generate a trajectory. The trajectory, with the radius of the grinding disc as the column spacing and 1 / 3 of the grinding disc as the row spacing, is laid out over the area of ​​the workpiece where there will be excess roots. A tool frame is generated with each point as the center, which is 10mm longer than the point spacing, 15mm wider, and 300mm higher. The tool frame is used for identification. If there are points with image data in the frame, they are retained; otherwise, they are deleted. The retained valid points are adjusted to fit the reference plane, and the points are raised by 10mm. The trajectory is then used to generate a tool frame with each point as the center, which is 5mm longer than the point spacing, 5mm wider than the row spacing, and 300mm higher. The tool frame is used for identification. If there are points with image data in the frame, they are lowered to the reference plane; otherwise, they remain unchanged. The above steps are performed on all the target 3D template images, including at least one target 3D template image, to obtain multiple trajectories.

[0047] 105. Generate a target trajectory based on at least one of the trajectories.

[0048] Since at least one of the above trajectories is obtained from different target 3D template images, it is necessary to integrate the different trajectories to obtain a complete target trajectory.

[0049] Optionally, after generating the target trajectory based on the at least one trajectory, the method further includes polishing the model product based on the target trajectory.

[0050] It can be seen that the polishing track generated by the above steps can identify the irregular area polishing track in the model product, automatically identify the irregular polishing area thickness and size, and automatically avoid the high place of the irregular polishing area, thereby saving the labor cost, greatly improving the unit production efficiency, and improving the product qualification rate.

[0051] In one possible example, the filtering of the three-dimensional template image according to the first reference surface to obtain at least one target three-dimensional template image point comprises: taking the first reference surface as a first plane; measuring the height values of the plurality of components in the three-dimensional template image with the first plane as the reference; deleting the component images corresponding to the height values lower than the first preset height to obtain an effective three-dimensional template image; retaining the component images corresponding to the height values higher than the first preset height in the effective three-dimensional template image to obtain a first target three-dimensional template image; retaining the component images corresponding to the height values higher than the second preset height in the effective three-dimensional template image to obtain a second target three-dimensional template image; retaining the component images corresponding to the height values higher than the third preset height in the effective three-dimensional template image to obtain a third target three-dimensional template image; and combining the first target three-dimensional template image, the second target three-dimensional template image, and the third target three-dimensional template image to obtain at least one three-dimensional template image.

[0052] Optionally, in the step of measuring the height values of the plurality of components in the three-dimensional template image, a three-dimensional space coordinate system is established with the midpoint of the first plane as the coordinate origin, so that the height values of the plurality of components in the three-dimensional template image in the three-dimensional space coordinate system can be obtained.

[0053] The first preset height value, the second preset height, and the third preset height can be artificially set or obtained according to the shape and size of the model product, and are not limited herein.

[0054] The first preset height value can be 1.5 mm, and is not limited herein.

[0055] The second preset height value can be 2.5 mm, and is not limited herein.

[0056] The third preset height value can be 3.5 mm, and is not limited herein.

[0057] The above-mentioned determination of the height value of the 3D template image based on three preset heights is not contradictory. For example, if there is a height value of 3.0mm, it falls within the range of the second preset height value; if there is a height value of 2.4mm, it falls within the range of the first preset height value; if there is a height value of 1.7mm, it falls within the range of the first preset height value; and if there is a height value of 2.6mm, it falls within the range of the second preset height value. That is, as long as it does not exceed the preset height value, it does not belong to the range corresponding to that preset height value.

[0058] It is evident that by identifying components of different heights, filtering and judging the height of each component, retaining those that meet the requirements, and generating multiple template images based on the retained components at different heights, the accuracy and efficiency of the trajectory generation method in subsequent trajectory generation steps are improved.

[0059] In one possible example, generating a target trajectory based on the at least one trajectory includes: obtaining the target height value of each three-dimensional template image in the at least one target three-dimensional template image; arranging the at least one trajectory in descending order of the target height values ​​to form a target trajectory.

[0060] For example, such as Figure 2C As shown, Figure 2C There are three tracks. According to the height values ​​corresponding to the three tracks, the three segments of the track are connected to obtain a complete target track, as shown in the figure. First, it can be determined that the track connection is from top to bottom. The first track can be connected from the right end, and then the connection can continue from the second track part near the end of the first track. Then the connection can start from the third track part near the end of the second track to obtain a complete target track.

[0061] In one possible example, the step of sequentially performing trajectory processing on the at least one target 3D template image according to the target distance to obtain at least one trajectory includes: forming a first dot with the target distance as the radius; uniformly copying the first dot into the at least one target 3D template image to obtain a first 3D template image to be processed; generating at least one toolbox with the center of the first dot as the center; and performing trajectory processing on the first 3D template image to be processed according to the at least one toolbox to obtain at least one trajectory.

[0062] Among them, at least one of the above tool boxes can be tool boxes of different sizes. The size of the tool box can be set at the factory or manually. There is no unique limitation here. For example, the tool box can be a tool box with a length 10mm longer than the dot distance, a width 15mm wider, and a height of 300mm, or a tool box with a length 5mm longer than the dot distance, a width 5mm wider than the line spacing, and a height of 300mm.

[0063] The first plurality of dots is laid out in the template product to screen qualified component areas, a tool frame is generated with each dot as the center, the length of the tool frame is 10mm longer than the dot distance, the width is 15mm wider than the row distance, and the height is 300mm, identification is performed in the tool frame, if there is image data in the frame, the dot is kept, otherwise, the dot is deleted, the effective dots that are kept are adjusted to fit the reference surface, the dots are collectively raised by 10mm, a tool frame is generated with each dot as the center, the length of the tool frame is 5mm longer than the dot distance, the width is 5mm wider than the row distance, and the height is 300mm, identification is performed in the tool frame, if there is image data in the frame, the dot is lowered to the reference surface, otherwise, the dot is not moved, and all target three-dimensional template images in the at least one target three-dimensional template image are executed according to the above steps to obtain a plurality of trajectories.

[0064] It can be seen that the effective point identification of the three-dimensional template image is performed by multiple tool frames of different sizes, the transition point can be identified, and the transition point and the effective point are both used for trajectory generation.

[0065] In one possible example, the at least one tool frame includes a first tool frame and a second tool frame, and the trajectory processing of the first three-dimensional template image to be processed according to the at least one tool frame to obtain at least one trajectory includes: generating a plurality of first tool frames with the center of the first dot as the center; identifying the first three-dimensional template image to be processed according to the plurality of first tool frames to obtain a plurality of effective dots in the first three-dimensional template image to be processed; vertically laying the plurality of effective dots on the first reference surface to obtain a second three-dimensional template image to be processed; generating a plurality of second tool frames with the center of the first dot as the center; identifying the second three-dimensional template image to be processed according to the second tool frames to obtain a plurality of effective dots in the second three-dimensional template image to be processed; and performing trajectory processing on the plurality of effective dots in the second three-dimensional template image to be processed to obtain the at least one trajectory.

[0066] The first tool frame can be a tool frame with a length of 10mm longer than the dot distance, a width of 15mm wider than the row distance, and a height of 300mm, and the second tool frame can be a tool frame with a length of 5mm longer than the dot distance, a width of 5mm wider than the row distance, and a height of 300mm.

[0067] For example, as shown in FIG. 1, Figure 2D FIG. 1 shows a planar schematic diagram of an effective dot. Figure 2D FIG. 1 shows a planar schematic diagram of an effective dot.

[0068] It can be seen that a large-range first three-dimensional template image to be processed is obtained according to the first tool frame, a small-range second three-dimensional template image to be processed is obtained according to the second tool frame, and the transition point and the effective point are confirmed through the two three-dimensional template images to be processed, thereby improving the accuracy of trajectory generation.

[0069] In one possible example, the trajectory processing of the plurality of effective points in the second three-dimensional template image to obtain the at least one trajectory includes: filtering the plurality of effective points to obtain filtered effective points; establishing a first spatial coordinate system according to the three-dimensional template image, the first spatial coordinate system including an X axis, a Y axis, and a Z axis, the X axis, the Y axis, and the Z axis being perpendicular to each other in pairs; moving the filtered effective points along the Z axis by a target height to obtain a plurality of target effective points; and connecting the target effective points to obtain the at least one trajectory.

[0070] The target height can be set by a person or according to the type and size of the template product, and can be 10 mm, 2.5 mm, 7.5 mm, etc., which is not limited herein.

[0071] For example, as shown in FIG. 2, Figure 2E Figure 2E The figure shows a plan view of all target effective points.

[0072] Optionally, after the first spatial coordinate system is established according to the three-dimensional template image, the plurality of effective points in the second three-dimensional template image are moved along the positive direction of the Z axis by a first target height to obtain a plurality of moved effective points; the plurality of moved effective points are moved along the negative direction of the Z axis by a second height to obtain a plurality of target effective points; and the target effective points are connected to obtain the at least one trajectory.

[0073] The first target height can be 10 mm, and the second target height can be 2.5 mm.

[0074] It can be seen that the moving of the effective points along the Z axis by the target height is to protect the template product, so that the generated trajectory can be more accurate when subsequent polishing is performed, and the template product can be prevented from being damaged.

[0075] In one possible example, the filtering of the plurality of effective points to obtain filtered effective points includes: obtaining a first distance of each effective point in the plurality of effective points; screening a target first distance that exceeds a preset distance threshold; and obtaining an effective point corresponding to the target first distance as a filtered effective point.

[0076] The preset distance threshold can be a corner threshold, that is, a point at a corner position is retained, one being in an XOY plane and the other being in an XOZ plane. The corner threshold can be determined according to a deformation amount of the template product or set by a person, which is not limited herein.

[0077] Optionally, the preset distance threshold can be 0.6 cm.

[0078] ​For example, the distance between the A valid point and the B valid point is 0.5 cm, and the distance between the B valid point and the C valid point is 0.5 cm, both of which are less than 0.6 cm, so it is deleted, otherwise it is reserved.

[0079] It can be seen that, by filtering the valid points, the situation that the trajectory deviates due to too dense data of the valid points can be avoided.

[0080] In one possible example, the obtaining of the plurality of valid points in the first three-dimensional template image according to the plurality of first tool frames includes: obtaining a pixel point of the first three-dimensional template image; and obtaining the plurality of valid points if the pixel point is located in the plurality of first tool frames.

[0081] Optionally, the obtaining of the plurality of valid points in the second three-dimensional template image according to the plurality of second tool frames includes: obtaining a pixel point of the second three-dimensional template image; and obtaining the plurality of valid points if the pixel point is located in the plurality of second tool frames.

[0082] The tool frame is used to identify a part in the template product that meets a height requirement, and the part can be identified by the tool frame.

[0083] The template product is scanned first to obtain a three-dimensional template image corresponding to the template product, and a first reference surface of the template product is obtained. Then, the three-dimensional template image is filtered according to the first reference surface to obtain at least one target three-dimensional template image. Then, the at least one target three-dimensional template image is processed in sequence according to a target distance to obtain at least one trajectory. Finally, a target trajectory is generated according to the at least one trajectory. The first reference surface of the template product is obtained first, and the template image that meets the requirement in the template product is determined based on the reference surface. The trajectory is generated according to the target distance of the template image that meets the requirement. The trajectory is used to polish the template product, and the accuracy and efficiency of the trajectory generation are improved, and the unit production efficiency is greatly improved.

[0084] Figure 3 is a flowchart of another trajectory generation method provided by an embodiment of the present application, as shown in Figure 3 The method includes the following steps.

[0085] 301. The template product is scanned to obtain a three-dimensional template image corresponding to the template product.

[0086] 302. A first reference surface of the template product is obtained.

[0087] 303. Based on the first reference surface, filter the three-dimensional template image to obtain at least one target three-dimensional template image.

[0088] 304. Form the first point with the target distance as the radius.

[0089] 305. The first dot is uniformly copied into the at least one target 3D template image to obtain the first 3D template image to be processed.

[0090] 306. Generate at least one toolbox with the center of the first dot as the center.

[0091] 307. Perform trajectory processing on the first three-dimensional template image to be processed according to the at least one tool box to obtain at least one trajectory.

[0092] 308. Obtain the target height value of each three-dimensional template image in the at least one target three-dimensional template image, and arrange the at least one trajectory in descending order of the target height value to form a target trajectory.

[0093] This application first scans the template product to obtain a 3D template image corresponding to the template product, and obtains a first reference surface of the template product. Next, based on the first reference surface, the 3D template image is filtered to obtain at least one target 3D template image. Then, based on the target distance, trajectory processing is performed on the at least one target 3D template image to obtain at least one trajectory. Finally, a target trajectory is generated based on the at least one trajectory. This invention allows for the first acquisition of the template product's first reference surface, and the determination of suitable template images within the template product based on the reference surface. A trajectory is then generated for the suitable template images based on the target distance. This trajectory is used for polishing the template product, improving the accuracy and efficiency of trajectory generation and significantly increasing unit production efficiency.

[0094] Based on the description of the above trajectory generation method embodiments, this application also discloses a trajectory generation apparatus, such as... Figure 4 As shown, the trajectory generation device 400 includes:

[0095] The scanning module 401 is used to scan the template product to obtain a three-dimensional template image corresponding to the template product;

[0096] Acquisition module 402 is used to acquire the first reference plane of the template product;

[0097] The filtering module 403 is used to filter the three-dimensional template image according to the first reference surface to obtain at least one target three-dimensional template image.

[0098] The processing module 404 is configured to sequentially perform trajectory processing on the at least one target three-dimensional template image according to a target distance, to obtain at least one trajectory.

[0099] The generating module 405 is configured to generate a target trajectory according to the at least one trajectory.

[0100] The template product is scanned first to obtain a three-dimensional template image corresponding to the template product, and a first reference surface of the template product is acquired. Then, the three-dimensional template image is filtered according to the first reference surface to obtain at least one target three-dimensional template image. Then, trajectory processing is sequentially performed on the at least one target three-dimensional template image according to a target distance, to obtain at least one trajectory. Finally, a target trajectory is generated according to the at least one trajectory. According to the application, the first reference surface of the template product can be acquired first, and the template image meeting the requirements in the template product can be determined based on the reference surface. The trajectory is generated according to the target distance of the template image meeting the requirements, and the trajectory is used for polishing the template product. The accuracy and efficiency of trajectory generation are improved, and the unit production efficiency is greatly improved.

[0101] The embodiment of the application further provides a computer storage medium (Memory). The computer storage medium is a memory device in an electronic device, and is used for storing programs and data. It can be understood that the computer storage medium can include a built-in storage medium in the electronic device, and of course can include an expansion storage medium supported by the electronic device. The computer storage medium provides a storage space, and the storage space stores an operating system of the electronic device. In addition, one or more instructions suitable for being loaded and executed by a processor are stored in the storage space, and the instructions can be one or more computer programs (including program codes). It should be noted that the computer storage medium can be a high-speed RAM memory, or a non-volatile memory such as at least one disk memory. Optionally, the computer storage medium can be at least one computer storage medium located away from the processor.

[0102] In one embodiment, one or more instructions stored in the computer storage medium can be loaded and executed by the processor to realize the corresponding steps in the above-described embodiments. In a specific implementation, one or more instructions in the computer storage medium can be loaded and executed by the processor Figure 1 and / or any step of the method in FIG. 2, which will not be described herein again.

[0103] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein again.

[0104] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the division of the modules is merely a logical function division, and there can be another division manner for actual implementation, for example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. The displayed or discussed interconnection between the modules, or the direct coupling or communication connection between the modules, can be indirect coupling or communication connection between the modules through some interfaces, devices or modules, and can be electrical, mechanical or other forms.

[0105] The modules illustrated as separated components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules, i.e., can be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment.

[0106] Figure 5 An internal structure diagram of a computer device in an embodiment is shown. The computer device can be a terminal. As shown in the figure, the computer device includes a processor, a memory and a network interface connected through a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and can also store a computer program, which, when executed by the processor, can enable the processor to implement the trajectory generation method described above. The internal memory can also store a computer program, which, when executed by the processor, can enable the processor to execute the trajectory generation method described above. Those skilled in the art can understand that the structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the device to which the scheme of the present application is applied. The specific device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. Figure 5 Figure 5 A computer readable storage medium stores a computer program, which, when executed by a processor, enables the processor to perform the steps of the trajectory generation method in any of the above embodiments.

[0107] A computer readable storage medium stores a computer program, which, when executed by a processor, enables the processor to perform the steps of the trajectory generation method in any of the above embodiments.

[0108] A computer device includes a memory and a processor, and the memory stores a computer program, which, when executed by the processor, enables the processor to perform the steps of the trajectory generation method in any of the above embodiments.

[0109] ​In the above embodiments, all or part can be implemented through software, hardware, firmware or any combination thereof. When implemented by using software, all or part can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed by a computer, the computer instructions generate all or part of the processes or functions according to the embodiments of the present application. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in or transmitted from a computer readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available medium can be a read-only memory (ROM), a random access memory (RAM), a magnetic medium such as a floppy disk, a hard disk, a magnetic tape, a magnetic disk, or an optical medium such as a digital versatile disc (DVD), or a semiconductor medium such as a solid state disk (SSD), etc.

[0110] The above description of disclosed embodiments enables one skilled in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A trajectory generation method characterized by, The method comprises: scanning a template product to obtain a three-dimensional template image corresponding to the template product; obtaining a first reference surface of the template product; screening the three-dimensional template image according to the first reference surface to obtain at least one target three-dimensional template image; processing a trajectory of the at least one target three-dimensional template image according to a target distance to obtain at least one trajectory; generating a target trajectory according to the at least one trajectory; wherein the screening the three-dimensional template image according to the first reference surface to obtain at least one target three-dimensional template image point comprises: taking the first reference surface as a first plane; measuring height values of multiple components in the three-dimensional template image with the first plane as a reference; deleting component images corresponding to height values lower than a first preset height to obtain an effective three-dimensional template image; retaining component images corresponding to height values higher than the first preset height in the effective three-dimensional template image to obtain a first target three-dimensional template image; retaining component images corresponding to height values higher than a second preset height in the effective three-dimensional template image to obtain a second target three-dimensional template image; retaining component images corresponding to height values higher than a third preset height in the effective three-dimensional template image to obtain a third target three-dimensional template image; combining the first target three-dimensional template image, the second target three-dimensional template image, and the third target three-dimensional template image to obtain at least one target three-dimensional template image; the processing a trajectory of the at least one target three-dimensional template image according to a target distance to obtain at least one trajectory comprises: forming a first circle point with the target distance as a radius; uniformly copying the first circle point in the at least one target three-dimensional template image to obtain a first to-be-processed three-dimensional template image; generating at least one tool frame with the center of the first circle point as a center; processing a trajectory of the first to-be-processed three-dimensional template image according to the at least one tool frame to obtain at least one trajectory; the at least one tool frame comprises a first tool frame and a second tool frame, and the processing a trajectory of the first to-be-processed three-dimensional template image according to the at least one tool frame to obtain at least one trajectory comprises: generating multiple first tool frames with the center of the first circle point as a center; identifying the first to-be-processed three-dimensional template image according to the multiple first tool frames to obtain multiple effective points in the first to-be-processed three-dimensional template image; vertically dropping the multiple effective points on the first reference surface to obtain a second to-be-processed three-dimensional template image; generating multiple second tool frames with the center of the first circle point as a center; identifying the second to-be-processed three-dimensional template image according to the second tool frames to obtain multiple effective points in the second to-be-processed three-dimensional template image; processing a trajectory of the multiple effective points in the second to-be-processed three-dimensional template image to obtain the at least one trajectory.

2. The method of claim 1, wherein, the generating a target trajectory according to the at least one trajectory comprises: obtaining a target height value of each three-dimensional template image in the at least one target three-dimensional template image; The at least one trajectory is arranged according to the target height value from large to small to form a target trajectory.

3. The method of claim 1, wherein, The at least one trajectory is obtained by performing trajectory processing on the plurality of effective points in the second three-dimensional template image. The plurality of effective points are filtered to obtain filtered effective points. A first space coordinate system is established according to the three-dimensional template image, and the first space coordinate system includes an X-axis, a Y-axis, and a Z-axis. The filtered effective points are moved along the Z-axis by a target height to obtain a plurality of target effective points. The at least one trajectory is obtained by connecting the target effective points.

4. The method of claim 3, wherein, The plurality of effective points are filtered to obtain filtered effective points. A first distance of each effective point in the plurality of effective points is obtained. A target first distance exceeding a preset distance threshold is screened out. An effective point corresponding to the target first distance is obtained as a filtered effective point.

5. A trajectory generation device characterized by comprising: The device is used for applying the method in any one of claims 1 to 4, and the device comprises: a scanning module configured to scan a template product to obtain a three-dimensional template image corresponding to the template product; an obtaining module configured to obtain a first reference surface of the template product; a screening module configured to screen the three-dimensional template image according to the first reference surface to obtain at least one target three-dimensional template image; a processing module configured to perform trajectory processing on the at least one target three-dimensional template image according to a target distance to obtain at least one trajectory; a generating module configured to generate a target trajectory according to the at least one trajectory.

6. A computer device, comprising a memory and a processor, the memory storing a computer program, and the computer program is executed by the processor to make the processor execute the steps of the trajectory generation method in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer program is stored in the memory and is executed by the processor to make the processor execute the steps of the trajectory generation method in any one of claims 1 to 4.

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