A method, device, processor and storage medium thereof for realizing local optimization processing of a three-dimensional tool axis trajectory for pipe bevel cutting

Abstract

The present application relates to a kind of methods for realizing three-dimensional tool axis trajectory local optimization processing to pipe bevel cutting, comprising the following steps: obtaining pipe cutting trajectory, and corresponding tool axis cutting trajectory;According to the corner range of parameter configurable, pipe cutting trajectory is segmented;Corner is optimized;Connect optimized trajectory;Optimized result is generated.The present application also relates to a kind of device for realizing pipe bevel cutting three-dimensional tool axis trajectory local optimization, processor and its computer readable storage medium.The method for realizing three-dimensional tool axis trajectory local optimization processing to pipe bevel cutting, device, processor and its computer readable storage medium of the present application are used, only the smoothing of tool axis trajectory is proposed to three-dimensional curve interpolation, which can maximize the accuracy of cutting trajectory and improve the machining effect at corner, can improve the cutting effect near polygon vertex in pipe bevel cutting process.

Description

Technical Field

[0001] This invention relates to the field of pipe beveling, and more particularly to the field of tool axis trajectory optimization at the corner of a three-dimensional curved surface cutting path. Specifically, it refers to a method, apparatus, processor, and computer-readable storage medium for achieving local optimization of the three-dimensional tool axis trajectory in pipe beveling. Background Technology

[0002] In the field of two-dimensional planar cutting, there are two basic methods for optimizing the tool axis trajectory: linear interpolation and circular interpolation.

[0003] Existing solutions for cutting trajectory optimization include B-spline smoothing and various variations of trajectory spline fitting techniques. However, these are all smoothing at the cutting trajectory level. Even if both the cutting trajectory and the tool axis trajectory are optimized, they are still variations of spline fitting techniques. This invention, on the other hand, is a technique that "keeps the cutting trajectory unchanged while smoothing the tool axis cutting trajectory near the corner." Furthermore, the technical solution proposes a novel three-dimensional spatial curve interpolation method.

[0004] Shortcoming 1: In pipe beveling, both the cutting trajectory and the tool axis trajectory are three-dimensional spatial curves, and conventional two-dimensional interpolation methods cannot solve the problem of three-dimensional curve interpolation.

[0005] Shortcoming 2: The inner contour of the bevel set by the process is varied and cannot be obtained like a plane, requiring additional calculations. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, apparatus, processor and computer-readable storage medium for local optimization of three-dimensional cutter axis trajectory for pipe beveling, which has the advantages of small error, good cutting effect and wide applicability.

[0007] To achieve the above objectives, the present invention provides a method, apparatus, processor, and computer-readable storage medium for local optimization of three-dimensional cutter axis trajectory in pipe beveling, as follows:

[0008] The method for local optimization of three-dimensional cutter axis trajectory in pipe beveling is characterized by the following steps:

[0009] (1) Obtain the pipe cutting trajectory and the corresponding cutter axis cutting trajectory;

[0010] (2) The pipe cutting trajectory is segmented according to the configurable angle range of the parameters;

[0011] (3) Optimize the corners;

[0012] (4) Connect the optimized trajectory;

[0013] (5) Generate optimization results.

[0014] Preferably, step (1) specifically comprises:

[0015] By performing spatial geometric calculations and combining them with the configuration of the tube cutting worktable, the three-dimensional coordinates of the tool tip are calculated to obtain the three-dimensional spatial tool axis trajectory.

[0016] Preferably, step (2) specifically includes:

[0017] Based on the characteristics of different processed surfaces of the pipe and the angle of the spatial rotation between the two segments of the cutting trajectory, if the segmentation conditions are met within the configurable rotation range, the current two segments are recorded as segments to be optimized. This process is repeated until the last segment is judged, thus completing the segmentation process.

[0018] Preferably, step (3) specifically includes the following steps:

[0019] (3.1) Based on the cutting trajectory on the outer contour, the cutting trajectory data on the inner contour is obtained by projection along the bevel vector;

[0020] (3.2) Determine the target tool axis posture at the characteristic position of the corner point between the transition sections;

[0021] (3.3) Determine the optimized start and end positions and the corresponding tool axis posture within the transition interval;

[0022] (3.4) Within the optimization interval, perform interpolation according to the curve type.

[0023] Preferably, step (3.1) specifically includes the following steps:

[0024] (3.1.1) Based on the location of the upper cutting trajectory and the bevel vector, obtain a ray emanating from the outer contour, and find the intersection of the ray with the inner contour surface to obtain the intersection point of the lower cutting trajectory;

[0025] (3.1.2) Calculate all points in sequence to obtain a complete trajectory that is connected sequentially;

[0026] (3.1.3) Perform self-intersecting trimming on the toolpath trajectory, maintain the outer contour toolpath features, and make the inner contour toolpath features consistent with the outer contour to obtain the final inner contour toolpath.

[0027] Preferably, step (3.2) specifically includes:

[0028] Based on the results calculated in (3.1), the feature corner points on the corresponding outer and inner contours are obtained. Connecting the inner and outer corner points yields a three-dimensional space vector, which is the target tool axis posture corresponding to the current corner point on the current outer contour cutting trajectory.

[0029] Preferably, step (3.3) specifically includes the following steps:

[0030] (3.3.1) If the user has not configured any parameters, the start and end positions of the optimized interval within the transition section will be calculated using the default ratio; if the user has configured any parameters, the interval will be calculated based on the parameters, and the process will continue to step (3.3.2).

[0031] (3.3.2) If angle control is required, the start and end positions and length of the optimization interval are calculated; if length control is required, the optimization interval of the corresponding length is selected.

[0032] Preferably, the calculation of the interval length of the optimization interval in step (3.3.2) is specifically as follows:

[0033] The length of the optimization interval is calculated using the following formula:

[0034]

[0035] Where L is the interval length, D is the angle, and A is the angle change at the start and end of the optimized interval.

[0036] Preferably, step (3.4) specifically includes the following steps:

[0037] If the interval is a straight line within a plane, linear interpolation is performed to obtain smoothly transitioned tool axis vector data; otherwise, curve interpolation is performed.

[0038] Preferably, the performance of curve interpolation specifically includes the following steps:

[0039] Obtain the set of points in the current optimization interval and fit it into a second-order continuous spline curve. The tangent vector at the starting point of the curve is consistent with the tangent vector of the original point, and the tangent vector at the ending point of the curve is consistent with the tangent vector of the original point.

[0040] Calculate the step size for curve interpolation;

[0041] Based on the step size, the trajectory point is obtained by interpolation on the curve, and the tool axis posture corresponding to the interpolated trajectory point is calculated.

[0042] The device for local optimization of the three-dimensional cutter axis trajectory for pipe beveling is characterized in that the device comprises:

[0043] A processor is configured to execute computer-executable instructions;

[0044] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the various steps of the method described above for local optimization of the three-dimensional cutter axis trajectory for pipe beveling.

[0045] The processor used to implement local optimization processing of three-dimensional cutter axis trajectory for pipe beveling is characterized in that the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the above-mentioned method for local optimization processing of three-dimensional cutter axis trajectory for pipe beveling.

[0046] The computer-readable storage medium is characterized in that it stores a computer program that can be executed by a processor to implement the various steps of the method described above for local optimization of the three-dimensional cutter axis trajectory for pipe beveling.

[0047] The present invention employs a method, apparatus, processor, and computer-readable storage medium for local optimization of three-dimensional cutter axis trajectory in pipe beveling. It proposes three-dimensional curve interpolation for smoothing only the cutter axis trajectory, which can maximize the accuracy of the cutting trajectory and improve the processing effect at corners, thereby improving the cutting effect near the corner points of graphic elements during pipe beveling. Attached Figure Description

[0048] Figure 1 This is a flowchart of the method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to the present invention.

[0049] Figure 2 This is a schematic diagram of the ABC orthogonal coordinate system defined in this invention for a point on the curve.

[0050] Figure 3 This is a schematic diagram comparing the simulation results of the velocity curves before and after optimization of the planar straight line segment in the method for local optimization of the three-dimensional cutter axis trajectory for pipe beveling according to the present invention.

[0051] Figure 4 This is a schematic diagram comparing the simulation results of acceleration curves before and after optimization of the planar straight line segment in the method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to the present invention.

[0052] Figure 5 This is a schematic diagram comparing the simulation results of velocity curves before and after optimization of the spatial curve segment on the curved surface for the method of local optimization of three-dimensional cutter axis trajectory for pipe beveling according to the present invention.

[0053] Figure 6 This is a schematic diagram comparing the simulation results of acceleration curves before and after optimization of the spatial curve segment on the curved surface for the method of local optimization of three-dimensional cutter axis trajectory for pipe beveling according to the present invention.

[0054] Figure 7This is a schematic diagram illustrating the local optimization effect of the method for local optimization of three-dimensional cutter axis trajectory in pipe beveling according to the present invention.

[0055] Figure 8 This is a schematic diagram comparing the non-optimized and locally optimized effects of the method for local optimization of three-dimensional cutter axis trajectory in pipe beveling according to the present invention.

[0056] Figure 9 This is a schematic diagram of three-dimensional curve interpolation for the method of local optimization of three-dimensional cutter axis trajectory for pipe beveling according to the present invention.

[0057] Figure 10 This is a schematic diagram illustrating the angle adjustment effect of the method for local optimization of three-dimensional cutter axis trajectory in pipe beveling according to the present invention. Detailed Implementation

[0058] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0059] The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to the present invention includes the following steps:

[0060] (1) Obtain the pipe cutting trajectory and the corresponding cutter axis cutting trajectory;

[0061] (2) The pipe cutting trajectory is segmented according to the configurable angle range of the parameters;

[0062] (3) Optimize the corners;

[0063] (4) Connect the optimized trajectory;

[0064] (5) Generate optimization results.

[0065] In a preferred embodiment of the present invention, step (1) specifically comprises:

[0066] By performing spatial geometric calculations and combining them with the configuration of the tube cutting worktable, the three-dimensional coordinates of the tool tip are calculated to obtain the three-dimensional spatial tool axis trajectory.

[0067] In a preferred embodiment of the present invention, step (2) specifically comprises:

[0068] Based on the characteristics of different processed surfaces of the pipe and the angle of the spatial rotation between the two segments of the cutting trajectory, if the segmentation conditions are met within the configurable rotation range, the current two segments are recorded as segments to be optimized. This process is repeated until the last segment is judged, thus completing the segmentation process.

[0069] In a preferred embodiment of the present invention, step (3) specifically includes the following steps:

[0070] (3.1) Based on the cutting trajectory on the outer contour, the cutting trajectory data on the inner contour is obtained by projection along the bevel vector;

[0071] (3.2) Determine the target tool axis posture at the characteristic position of the corner point between the transition sections;

[0072] (3.3) Determine the optimized start and end positions and the corresponding tool axis posture within the transition interval;

[0073] (3.4) Within the optimization interval, perform interpolation according to the curve type.

[0074] In a preferred embodiment of the present invention, step (3.1) specifically includes the following steps:

[0075] (3.1.1) Based on the location of the upper cutting trajectory and the bevel vector, obtain a ray emanating from the outer contour, and find the intersection of the ray with the inner contour surface to obtain the intersection point of the lower cutting trajectory;

[0076] (3.1.2) Calculate all points in sequence to obtain a complete trajectory that is connected sequentially;

[0077] (3.1.3) Perform self-intersecting trimming on the toolpath trajectory, maintain the outer contour toolpath features, and make the inner contour toolpath features consistent with the outer contour to obtain the final inner contour toolpath.

[0078] In a preferred embodiment of the present invention, step (3.2) specifically comprises:

[0079] Based on the results calculated in (3.1), the feature corner points on the corresponding outer and inner contours are obtained. Connecting the inner and outer corner points yields a three-dimensional space vector, which is the target tool axis posture corresponding to the current corner point on the current outer contour cutting trajectory.

[0080] In a preferred embodiment of the present invention, step (3.3) specifically includes the following steps:

[0081] (3.3.1) If the user has not configured any parameters, the start and end positions of the optimized interval within the transition section will be calculated using the default ratio; if the user has configured any parameters, the interval will be calculated based on the parameters, and the process will continue to step (3.3.2).

[0082] (3.3.2) If angle control is required, the start and end positions and length of the optimization interval are calculated; if length control is required, the optimization interval of the corresponding length is selected.

[0083] In a preferred embodiment of the present invention, the calculation of the interval length of the optimization interval in step (3.3.2) specifically involves:

[0084] The length of the optimization interval is calculated using the following formula:

[0085]

[0086] Where L is the interval length, D is the angle, and A is the angle change at the start and end of the optimized interval.

[0087] In a preferred embodiment of the present invention, step (3.4) specifically includes the following steps:

[0088] If the interval is a straight line within a plane, linear interpolation is performed to obtain smoothly transitioned tool axis vector data; otherwise, curve interpolation is performed.

[0089] In a preferred embodiment of the present invention, the performance of curve interpolation specifically includes the following steps:

[0090] Obtain the set of points in the current optimization interval and fit it into a second-order continuous spline curve. The tangent vector at the starting point of the curve is consistent with the tangent vector of the original point, and the tangent vector at the ending point of the curve is consistent with the tangent vector of the original point.

[0091] Calculate the step size for curve interpolation;

[0092] Based on the step size, the trajectory point is obtained by interpolation on the curve, and the tool axis posture corresponding to the interpolated trajectory point is calculated.

[0093] The apparatus of the present invention for realizing local optimization of three-dimensional cutter axis trajectory for pipe beveling, wherein the apparatus comprises:

[0094] A processor is configured to execute computer-executable instructions;

[0095] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the various steps of the method described above for local optimization of the three-dimensional cutter axis trajectory for pipe beveling.

[0096] The present invention discloses a processor for implementing local optimization processing of three-dimensional cutter axis trajectory for pipe beveling, wherein the processor is configured to execute computer-executable instructions, and when the computer-executable instructions are executed by the processor, the various steps of the above-described method for implementing local optimization processing of three-dimensional cutter axis trajectory for pipe beveling are implemented.

[0097] The computer-readable storage medium of the present invention stores a computer program that can be executed by a processor to implement the various steps of the method for local optimization of three-dimensional cutter axis trajectory for pipe beveling.

[0098] The purpose of this invention is to provide a method for local optimization of the three-dimensional cutter axis cutting point trajectory in the field of pipe beveling. This invention proposes a projection method from the outer contour of the pipe to its inner contour to obtain the characteristic cutter axis posture at the corner points of the optimization interval. It also proposes an algorithm for three-dimensional curve interpolation within a local range to solve the problems of large cutting trajectory errors, long dwell times leading to localized melting, and poor cutting effects caused by drastic corner changes near the corner points during pipe beveling. This achieves a smooth transition of the cutter axis vector in the pipe beveling trajectory near the corner points, optimizing the cutting effect. Especially when the cutting machine hardware has significant mechanical errors, optimizing the cutter axis cutting trajectory within a local area reduces the impact range of these mechanical errors.

[0099] This invention also provides a method for local optimization of the three-dimensional cutter axis cutting trajectory with configurable parameters. The optimization range of the cutter axis trajectory near the corner point of the cutting trajectory is controlled by angle or length. Specifically, users can adjust the local optimization range using angle or length parameters based on the cutting effect. When the optimization range is adjusted, the system recalculates the start / end posture of the cutter axis within the optimization range, dynamically adjusting and providing real-time feedback. This allows for faster response to various adverse factors under different production environments, from different manufacturers, and with different cutting raw materials, thereby achieving the goal of optimizing the cutting effect.

[0100] This invention relates to a comprehensive process scheme for local optimization of three-dimensional trajectories (and calculation methods for sub-processes that can be replaced while keeping the overall process unchanged), projection calculation, and a three-dimensional curve interpolation algorithm. This invention is applicable, but not limited to, the field of pipe beveling, and solves local effects related to spatial cutting trajectories.

[0101] This invention provides a geometric method for projecting the outer contour of a pipe bevel in three dimensions, a method for three-dimensional curve interpolation, a method for local optimization of three-dimensional trajectory, and a method for local optimization of three-dimensional trajectory with configurable parameters, which is suitable for more variable environmental scenarios.

[0102] In a specific embodiment of the present invention, a method for local optimization of the three-dimensional cutter axis trajectory for pipe beveling includes the following steps:

[0103] Step 1: Obtain the pipe cutting trajectory and the cutter axis cutting trajectory.

[0104] Given the cutting trajectory and the bevel angle on the trajectory, this invention directly calculates the three-dimensional coordinates of the tool tip by performing spatial geometric calculations and combining them with the configuration of the tube cutting worktable, thus obtaining the three-dimensional spatial tool axis trajectory.

[0105] In step 1 of this scheme, the tool axis trajectory is obtained directly by geometric calculation based on the cutting trajectory and bevel data, while existing technologies usually achieve this through isoparametric domain mapping.

[0106] Step 2: Divide the pipe cutting trajectory into segments.

[0107] In this invention, the overall software design concept is combined with the following steps: First, the pipe is simply divided according to the characteristics of different processed surfaces. Then, based on the angle of the spatial rotation between the two segments of the cutting trajectory, if the angle is within the permissible range of the corner point, the segmentation condition is met, and the current two segments are recorded as segments to be optimized. This process is repeated until the last segment is judged. The segmentation process is then complete.

[0108] In particular, this step includes, but is not limited to, the angle judgment conditions for open corner point determination, which are configurable by the user for greater flexibility.

[0109] Step 3: Corner optimization.

[0110] Step 3.1: Based on the cutting trajectory on the outer contour, along the bevel vector, the cutting trajectory data on the inner contour is obtained using the projection method provided in this invention.

[0111] The projection method is as follows:

[0112] Step 3.1.1 Based on the location of the upper cutting trajectory and the bevel vector, a ray emanating from the outer contour can be obtained. The intersection of this ray with the inner contour surface can be used to obtain the intersection point of the lower cutting trajectory. If the intersection point is not obtained due to the shape of the pipe or excessive vector deviation, the nearest point between the ray and the inner contour is used as a substitute.

[0113] Step 3.1.2 involves sequentially calculating all points to obtain a complete trajectory that is connected sequentially. However, this trajectory is not the final trajectory because the actual inner contour path is not the lower surface path that is desired in actual operation. Without any processing, the smoothing effect on the actual toolpath is limited.

[0114] Step 3.1.3 Perform self-intersecting trimming on the toolpath trajectory, preserving the outer contour toolpath features and ensuring that the inner contour toolpath features are as consistent as possible with the outer contour. Obtain the final inner contour toolpath.

[0115] In step 3.1 of this solution, the main purpose is to obtain the tool axis posture at the feature corner point, which is mainly based on geometric calculation. However, many existing technologies directly use spatial Boolean operations or parametric curve methods. The steps of this solution are different from those of existing technologies.

[0116] Step 3.2: First, determine the target tool axis attitude (i.e., tool axis vector) at the characteristic location of the corner point between transition segments.

[0117] Based on the results calculated in step 3.1, the feature corner points on the outer and inner contours can be found one by one. Connecting the inner and outer corner points yields a three-dimensional space vector, which is the target tool axis posture corresponding to the current corner point on the current outer contour cutting trajectory.

[0118] Step 3.3: Determine the optimized start and end positions and corresponding tool axis postures within the transition interval;

[0119] When no parameters are configured by the user, the start and end positions of the optimized interval within the transition section are calculated using the default ratio. When parameters are configured by the user, the interval is calculated based on the parameters. If angle control is selected, the start and end positions of the optimized interval are calculated according to the following formula. If length control is selected, the optimized interval of the corresponding length can be directly taken.

[0120] Angle D, the angle change between the start and end of the optimized interval is A, and the interval length L = D / A;

[0121] In particular, when users set angle or length parameters according to on-site requirements, this operation will not change the cutting trajectory or the start and end position tool axis posture of the entire trajectory range. This is because the bevel angle on the current cutting trajectory is fixed, and the target cutting effect cannot be modified. The angle or length parameters are merely a means of selecting the optimization range within the trajectory. Therefore, the purpose of this operation is to adjust the range of the optimization range within the current cutting trajectory. The range is a crucial factor determining the final tool axis trajectory, the changes in tool axis posture within the range, and the machining effect. The local optimization of this invention also targets the smooth transition of the tool axis posture within the optimization range. As mentioned above, the optimization is performed near corner points where machining errors exist and the machining effect is poor.

[0122] Step 3.4: Optimize interpolation within the interval

[0123] For straight line intervals within a plane, linear interpolation yields smooth transition tool axis vector data; in other cases, curve-to-curve interpolation is performed.

[0124] The principle of curve interpolation is as follows:

[0125] The tool axis vector angle change ΔAng in the current optimization interval is calculated. The purpose of curve interpolation is to smoothly distribute the angle change of ΔAng throughout the entire optimization interval, where the starting and ending tool axis postures of the interval have been determined.

[0126] For the current optimization interval, the set of points in the interval is obtained and fitted into a second-order continuous B-spline curve. To ensure that the cutting trajectory on the pipe meets the error requirements, the tangent vector at the starting point of the curve is consistent with the tangent direction of the original point. Similarly, the same applies to the ending point. In particular, when the spatial curve degenerates into a straight line, the fitted effect is also a straight line. Through geometric derivation, the spatial curve interpolation algorithm of this invention is also applicable to such special scenarios.

[0127] Calculate the step size for curve interpolation:

[0128] Step size = Fitted curve length Lc / Allowable angle change per step Avg (this value is an empirical value);

[0129] First, obtain the trajectory point by interpolating the curve based on the step size Step, and then calculate the tool axis posture corresponding to the interpolated trajectory point using the following method:

[0130] Given that a three-dimensional spatial vector can be decomposed into three components in a coordinate system with three mutually perpendicular directions, for a point P on a space curve, define an orthogonal coordinate system ABC, where direction A is the normal to the center of the space curve at the point, direction B is the tangent to the space curve at the point, and direction C is the spatial vector obtained by the cross product of B and A. It can be proven that this orthogonal coordinate system ABC satisfies the condition of mutual orthogonality, and that a three-dimensional spatial vector can be decomposed into three components ABC, and vice versa. Figure 2 As shown.

[0131] The three-dimensional tool axis vector is decomposed into two components, A and B, for interpolation. The C component can be calculated using trigonometric function formulas (note the direction). Combining the A, B, and C components gives the final interpolated tool axis vector.

[0132] Calculate the starting point of the optimized curve. Using the original normal vector of the starting point on the pipe as the axis, rotate the tangential line of the starting point 90 degrees around the normal vector to obtain the center of curvature vector at the starting point of the curve. The angle between the target tool axis vector at the starting point and the center of curvature vector is taken as the starting angle As of the A-axis component, and the angle between the tangential line of the starting point and the center of curvature vector is taken as the starting angle Bs of the B-axis component. Similarly, calculate the A-axis component angle Ae and the B-axis component angle Be at the ending point.

[0133] Step 4: Connect the optimized segments.

[0134] The segments to be optimized are spliced ​​together until all segments are connected.

[0135] Step 5: Generate optimization results.

[0136] The cutting point trajectory and the optimized cutter axis cutting trajectory replace the original bevel data.

[0137] An alternative embodiment 1 to this technical solution is as follows:

[0138] When the pipe cutting surface is a plane, the effect of local trajectory optimization is similar to the effect of local linear interpolation / circular interpolation.

[0139] An alternative embodiment 2 to this technical solution is as follows:

[0140] There is no single way to calculate the projection of the inner and outer contours of the pipe bevel, including but not limited to the solution provided in this invention, such as directly intersecting three-dimensional data to obtain the trajectory data of the inner surface contour.

[0141] An alternative embodiment 3 of this technical solution is as follows:

[0142] When the pipe cutting surface is a plane, the cutting trajectory on the inner and outer contours is calculated, and the correspondence between the points of the inner and outer contour cutting trajectory is obtained by isoparametric division. This method yields the same result as the result obtained by linear interpolation of the direct outer contour cutting trajectory.

[0143] An alternative embodiment 4 to this technical solution is as follows:

[0144] Steps 3.2 and 3.3 can be combined. During the calculation of the cutter axis optimization trajectory between transition segments, the target cutter axis posture at the corner point and the start and end cutter axis posture of the optimization interval are determined sequentially.

[0145] This invention provides a method for local optimization of the cutting trajectory of a pipe beveling cutter axis with configurable parameters, which can improve the cutting effect near the corner points of graphic elements during the pipe beveling process.

[0146] This invention uses the optimization effect near the bevel corner of a pipe as an example to illustrate that local optimization has a significant effect on improving the bevel cutting effect of pipes. The local optimization effect is as follows: Figure 7 As shown.

[0147] Comparison of non-optimization effect and local optimization effect Figure 8 As shown, it can be done through Figure 8 The effect is noticeably improved.

[0148] Comparing the changes in the simulated speed curves, where the dark line represents the unoptimized effect and the light line represents the optimized effect, it can be seen that the light line is better than the dark line in terms of both peak value and fluctuations during the cutting process.

[0149] Comparing the changes in the simulated acceleration curves, the dark curve represents the unoptimized effect, while the light curve represents the optimized effect. It can be seen that after optimization, the peak value is smaller, the number of peaks is reduced, and the range of peak value variation is also reduced, resulting in a significant improvement in the overall effect.

[0150] This invention compares the effects of unoptimized and optimized transitions of the same curve segment on a three-dimensional surface, demonstrating that the three-dimensional curve interpolation method provided by this invention is reasonable and effective.

[0151] Comparing the speed curve simulation results, the dark color represents the simulation processing result of the unoptimized curve segment, while the light color represents the simulation processing result of the optimized curve segment. It can be seen that the optimized curve segment has fewer peak fluctuations, smaller peak values, and a longer time domain when fluctuations occur, which can effectively improve the processing effect.

[0152] Comparing the acceleration curve simulation results, the dark color represents the simulation results of the unoptimized curve segment, while the light color represents the simulation results of the optimized curve segment. It can be seen that the fluctuation peaks are significantly reduced, and the effect during the processing is significantly improved.

[0153] For the specific implementation scheme of this embodiment, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0154] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0155] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0156] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0157] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution device. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0158] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0159] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0160] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0161] 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 invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0162] The present invention employs a method, apparatus, processor, and computer-readable storage medium for local optimization of three-dimensional cutter axis trajectory in pipe beveling. It proposes three-dimensional curve interpolation for smoothing only the cutter axis trajectory, which can maximize the accuracy of the cutting trajectory and improve the processing effect at corners, thereby improving the cutting effect near the corner points of graphic elements during pipe beveling.

[0163] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A method for local optimization of three-dimensional cutter axis trajectory in pipe beveling, characterized in that, The method includes the following steps: (1) Obtain the pipe cutting trajectory and the corresponding cutter axis cutting trajectory; (2) The pipe cutting trajectory is segmented according to the configurable angle range of the parameters; (3) Optimize the corners; (4) Connect the optimized trajectory; (5) Generate optimization results; Step (3) specifically includes the following steps: (3.1) Based on the cutting trajectory on the outer contour, the cutting trajectory data on the inner contour is obtained by projection along the bevel vector; (3.2) Determine the target tool axis posture at the characteristic position of the corner point between the transition sections; (3.3) Determine the optimized start and end positions and the corresponding tool axis posture within the transition interval; (3.4) Within the optimization interval, perform interpolation according to the curve type.

2. The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to claim 1, characterized in that, The specific steps (1) are as follows: By performing spatial geometric calculations and combining them with the configuration of the tube cutting worktable, the three-dimensional coordinates of the tool tip are calculated to obtain the three-dimensional spatial tool axis trajectory.

3. The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to claim 1, characterized in that, The specific steps (2) are as follows: Based on the characteristics of different processed surfaces of the pipe and the angle of the spatial rotation between the two segments of the cutting trajectory, if the segmentation conditions are met within the configurable rotation range, the current two segments are recorded as segments to be optimized. This process is repeated until the last segment is judged, thus completing the segmentation process.

4. The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to claim 1, characterized in that, Step (3.1) specifically includes the following steps: (3.1.1) Based on the location of the upper cutting trajectory and the bevel vector, obtain a ray emanating from the outer contour, and find the intersection of this ray with the inner contour surface to obtain the intersection point of the lower cutting trajectory; (3.1.2) Calculate all points in sequence to obtain a complete trajectory that is connected sequentially; (3.1.3) Perform self-intersecting trimming on the toolpath trajectory, maintain the outer contour toolpath features, and make the inner contour toolpath features consistent with the outer contour to obtain the final inner contour toolpath.

5. The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to claim 1, characterized in that, The specific steps (3.2) are as follows: Based on the results calculated in (3.1), the feature corner points on the corresponding outer and inner contours are obtained. Connecting the inner and outer corner points yields a three-dimensional space vector, which is the target tool axis posture corresponding to the current corner point on the current outer contour cutting trajectory.

6. The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to claim 1, characterized in that, Step (3.3) specifically includes the following steps: (3.3.1) If the user has not configured any parameters, the start and end positions of the optimized interval within the transition section will be calculated using the default ratio; if the user has configured any parameters, the interval will be calculated based on the parameters, and the process will continue to step (3.3.2). (3.3.2) If angle control is required, the start and end positions and length of the optimization interval are calculated; if length control is required, the optimization interval of the corresponding length is selected.

7. The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to claim 6, characterized in that, The calculation of the interval length of the optimization interval in step (3.3.2) is specifically as follows: The length of the optimization interval is calculated using the following formula: Where L is the interval length, D is the angle, and A is the angle change at the start and end of the optimized interval.

8. The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to claim 1, characterized in that, Step (3.4) specifically includes the following steps: If the data is determined to be a straight line interval within a plane, linear interpolation is performed to obtain smoothly transitioned tool axis vector data; otherwise, curvilinear interpolation is performed.

9. The method for local optimization of three-dimensional cutter axis trajectory for pipe beveling according to claim 8, characterized in that, The aforementioned curve interpolation process specifically includes the following steps: Obtain the set of points in the current optimization interval and fit it into a second-order continuous spline curve. The tangent vector at the starting point of the curve is consistent with the tangent vector of the original point, and the tangent vector at the ending point of the curve is consistent with the tangent vector of the original point. Calculate the step size for curve interpolation; Based on the step size, the trajectory point is obtained by interpolation on the curve, and the tool axis posture corresponding to the interpolated trajectory point is calculated.

10. A device for achieving local optimization of the three-dimensional cutter axis trajectory for pipe beveling, characterized in that, The device includes: A processor is configured to execute computer-executable instructions; The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the method for local optimization of three-dimensional cutter axis trajectory for pipe beveling as described in any one of claims 1 to 9.

11. A processor for implementing local optimization of three-dimensional tool axis trajectory for pipe beveling, characterized in that, The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the steps of the method for local optimization of three-dimensional cutter axis trajectory for pipe beveling as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, It stores a computer program that can be executed by a processor to implement the various steps of the method for local optimization of three-dimensional cutter axis trajectory for pipe beveling as described in any one of claims 1 to 9.

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