Processing Path Generation Method, Device, Machine Tool, and Readable Storage Medium

Abstract

The present invention discloses a machining path generation method, device, machine tool and readable storage medium, relating to the technical field of machine tools. The machining path generation method includes: collecting images of a workpiece from multiple perspectives and establishing a three-dimensional model of the workpiece; generating a detection trajectory according to the three-dimensional model of the workpiece; using a probe installed on the spindle to move along the contour of the workpiece according to the detection trajectory to obtain feature information, where the feature information at least includes the depth information of the workpiece contour; correcting the three-dimensional model according to the feature information to obtain a three-dimensional corrected model; and generating a machining path based on the three-dimensional corrected model and the finished workpiece model. The present invention can quickly generate a machining path and has a certain accuracy guarantee.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tools, and particularly relates to a machining path generation method, device, machine tool and readable storage medium. Background Art

[0002] Before a machine tool processes a workpiece, it is usually necessary to calculate and plan the machining path, and then calculate the shape of the workpiece after machining according to the calculated machining path. Of course, the machining path can also be determined based on the finished workpiece model combined with the current shape of the workpiece.

[0003] In the prior art, such as the solution with the application number CN200680014061.7 and the name of the method for scanning the surface of a workpiece, in this solution, a probe is used to measure the surface contour of the workpiece to obtain relative contour data. However, the method of completely generating data by probe contact takes a long time. Summary of the Invention

[0004] The purpose of the present invention is to provide a machining path generation method, device, machine tool and readable storage medium that can quickly generate a machining path.

[0005] The purpose of the present invention is achieved by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a machining path generation method, which is applied to a machine tool with a spindle. The method includes:

[0007] Collect images of the workpiece from multiple perspectives and establish a three-dimensional model of the workpiece;

[0008] Generate a detection trajectory according to the three-dimensional model of the workpiece;

[0009] Use a probe installed on the spindle to move along the contour of the workpiece according to the detection trajectory to obtain feature information, where the feature information at least includes the depth information of the workpiece contour;

[0010] Correct the three-dimensional model according to the feature information to obtain a three-dimensional corrected model;

[0011] Generate a machining path based on the three-dimensional corrected model and the finished workpiece model.

[0012] In an embodiment of the machining path generation method, the step of collecting images of the workpiece from multiple perspectives and establishing a three-dimensional model of the workpiece includes:

[0013] Use a depth camera to collect images with depth information of the workpiece from at least two perspectives;

[0014] Generate a three-dimensional model with feature points based on the images with depth information;

[0015] The generation of the detection trajectory includes:

[0016] Fitting the distributed feature points to obtain at least one random trajectory as the detection trajectory.

[0017] In an embodiment of the machining path generation method, the fitting of the distributed feature points to obtain at least one random trajectory as the detection trajectory includes:

[0018] Fitting the distributed feature points to obtain at least two intersecting random trajectories as the detection trajectory.

[0019] In an embodiment of the machining path generation method, the correcting of the three-dimensional model according to the feature information includes:

[0020] Comparing the depth information of the random points on the detection trajectory in the three-dimensional model with the feature information at the corresponding detected points;

[0021] If the comparison value between the depth information of the random points and the feature information at the corresponding points is greater than the deviation threshold, the three-dimensional model is corrected using the feature information.

[0022] In an embodiment of the machining path generation method, after comparing the depth information of the random points on the detection trajectory in the three-dimensional model with the feature information at the corresponding detected points, the method further includes:

[0023] Obtaining each of the random points where the comparison value is greater than the deviation threshold;

[0024] Marking similar contours in the three-dimensional model based on each of the random points to generate a correction marking area;

[0025] The correcting of the three-dimensional model using the feature information includes:

[0026] Synchronously correcting the points within the correction marking area.

[0027] In an embodiment of the machining path generation method, the machine tool is a three-axis vertical machine tool. Before moving the probe installed on the spindle along the contour of the workpiece according to the detection trajectory to obtain feature information, the method further includes:

[0028] Aligning the probe installed on the spindle with the midpoint of the centering positioning block provided in the middle of the workbench. On the centering positioning block, there is also an X-axis centering line parallel to the X-axis and / or a Y-axis centering line parallel to the Y-axis. The X-axis centering line and the Y-axis centering line can intersect at the midpoint position;

[0029] Move the workbench a distance equal to half of the maximum stroke of the X-axis in the positive X-axis direction, and move the workbench a distance equal to half of the maximum stroke of the Y-axis in the positive Y-axis direction to obtain the origin position of the machine tool's mechanical coordinates.

[0030] In an embodiment of the machining path generation method, the generating a machining path based on the three-dimensional correction model and the workpiece finished product model includes:

[0031] Performing multiple simulation machinings on the three-dimensional correction model with different machining paths based on the workpiece finished product model;

[0032] Selecting the machining path with the optimal simulation machining.

[0033] In a second aspect, the present invention provides a machining path generation device, which is applied to a machine tool with a spindle. The device includes:

[0034] A model establishment module, configured to collect images of the workpiece from multiple perspectives and establish a three-dimensional model of the workpiece;

[0035] A trajectory generation module, configured to generate a detection trajectory according to the three-dimensional model of the workpiece;

[0036] A detection module, configured to use a probe installed on the spindle to move along the contour of the workpiece according to the detection trajectory to obtain feature information, where the feature information at least includes the depth information of the workpiece contour;

[0037] A correction module, configured to correct the three-dimensional model according to the feature information to obtain a three-dimensional correction model;

[0038] A machining path generation module, configured to generate a machining path based on the three-dimensional correction model and the workpiece finished product model.

[0039] In a third aspect, the present invention further provides a machine tool, including a machine tool system, and the machine tool system includes the machining path generation device as described above;

[0040] Or,

[0041] The machine tool system includes a processor, and the processor is configured to execute the steps in the machining path generation method as described above.

[0042] In a fourth aspect, the present invention further provides a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the machining path generation method as described above are implemented.

[0043] Compared with the prior art, the present invention has at least the following beneficial effects:

[0044] The present invention uses an image collector to collect images of a workpiece from multiple perspectives for establishing a three-dimensional model. Subsequently, a detection trajectory is generated based on the three-dimensional model, and then the probe on the spindle is controlled to move along the detection trajectory on the contour of the workpiece, thereby obtaining feature information with depth information. The three-dimensional model can be corrected using this feature information, so as to obtain a three-dimensional corrected model closer to the actual workpiece. Finally, a machining path is generated based on the three-dimensional corrected model and the finished workpiece model, so as to ultimately generate a machining path that more conforms to the actual situation of the workpiece and is more accurate. Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0046] Figure 1 It is a flowchart of the machining path generation method provided by the present invention in an embodiment;

[0047] Figure 2 It is a schematic diagram of the workpiece and the detection trajectory thereon provided by the present invention;

[0048] Figure 3 It is a schematic diagram of the structure of the probe installed on the tool holder provided by the present invention;

[0049] Figure 4 It is a schematic diagram of the structure of the machine tool applied by the present invention;

[0050] Figure 5 It is a flowchart of the machining path generation method provided by the present invention in another embodiment;

[0051] Figure 6 It is a schematic diagram of the functional modules of the machining path generation device provided by the present invention.

[0052] Explanation of the Reference Numerals in the Drawings:

[0053] Machine tool 1; Workbench 11; Column 12; Spindle 13; Probe 14; Tool holder 15; Center-finding positioning block 16;

[0054] Machining path generation device 100; Model establishment module 101; Trajectory generation module 102; Detection module 103; Correction module 104; Machining path generation module 105. Detailed Embodiments

[0055] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0056] It should be noted that when an element is referred to as being "disposed on" or "provided on" another element, it can be directly disposed on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can also be an intermediate element. When an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or there can also be an intermediate element.

[0057] In addition, it should also be understood that all directional indications (such as up, down, left, right, middle...) in the embodiments are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly; terms such as "first" and "second" are used to distinguish different structural components. These terms are only for the convenience of describing the present invention and simplifying the description, and should not be construed as limiting the present invention.

[0058] In the machining path generation method provided by the present invention, a more accurate three-dimensional model of the workpiece can be obtained by combining depth image information and the information detected by the probe, thereby supporting the acquisition of more accurate machining path information.

[0059] See Figure 1 , which is a flowchart of the machining path generation method provided by the present invention in an embodiment. This flowchart only schematically shows some control steps for the machine tool, so some steps can be added or subtracted and / or the order of some steps can be adjusted according to different application scenarios and environmental conditions.

[0060] As Figure 1 shown, in the machining path generation method provided in this embodiment, the following steps may be included:

[0061] S101: Collect images of the workpiece from multiple perspectives and establish a three-dimensional model of the workpiece.

[0062] In this embodiment, a three-dimensional model of the workpiece can be obtained by acquiring images of the workpiece from multiple perspectives and combining the current three-dimensional modeling algorithm based on deep learning.

[0063] In an application example of this embodiment, a depth camera can be used to collect images with depth information of the workpiece from at least two perspectives. Then, a three-dimensional model with feature points is generated based on the images with depth information.

[0064] It can be understood that the number of perspectives to be collected can be based on the complexity of the workpiece, that is, the more complex the workpiece contour, the more perspectives are required. As Figure 2 shown, the workpiece is a workpiece with multiple complex curved surfaces. Accordingly, images with partially overlapping perspectives can be obtained, and the multiple perspectives can include a regular pentahedral view, that is, top view, front view, rear view, left view, right view, etc.

[0065] S102: Generate a detection trajectory according to the three-dimensional model of the workpiece.

[0066] In this embodiment, after obtaining the three-dimensional model, a detection trajectory can be generated based on some feature points or set identification points on the three-dimensional model. Of course, the detection trajectory can also be generated by a random generation method. It can be understood that the detection trajectory is a trajectory located on the contour of the workpiece model. Here, the feature points are points that meet a preset depth or points located at a preset contour shape position.

[0067] In this embodiment, corresponding to the images of the workpiece collected from multiple perspectives by the depth camera, the generation of the detection trajectory can include: fitting the distributed feature points to obtain at least one random trajectory as the detection trajectory.

[0068] Preferably, the distributed feature points are fitted to obtain at least two intersecting random trajectories as the detection trajectory.

[0069] S103: Use a probe installed on the spindle to move along the detection trajectory on the contour of the workpiece to obtain feature information, and the feature information at least includes the depth information of the workpiece contour.

[0070] In this embodiment, the probe can move smoothly on the workpiece and generate corresponding change data during the movement. The information containing the change data is the feature information, and the feature information includes the depth information of the workpiece contour. Of course, the feature information can also include the two-axis force change information in a machine tool axis plane such as the XY plane.

[0071] Corresponding Figure 2 to the workpiece structure, when the probe detects along two intersecting random trajectories S 1 、S 2 to obtain corresponding reading changes, when the probe is at the intersection point O, the position in the three-dimensional model can also be calibrated based on this position.

[0072] As Figure 3 shown, the probe 14 can be directly installed on the tool shank 15. During the movement of the probe 14, detection data of the workpiece contour is generated, and the readings thereon can also be directly observed by the operator.

[0073] S104: Modify the three-dimensional model according to the feature information to obtain a three-dimensional modified model.

[0074] In this embodiment, when performing the modification, the depth information of random points on the detection trajectory in the three-dimensional model can be compared with the feature information at the corresponding points detected. Thereafter, if the comparison value between the depth information of the random points and the feature information at the corresponding points is greater than the deviation threshold, the three-dimensional model is modified using the feature information.

[0075] After comparing the depth information of random points with the feature information at the corresponding points, each of the random points with a comparison value greater than the deviation threshold can also be obtained. Then, based on each of the random points, similar contours in the three-dimensional model are marked to generate a modified marked area. At this time, the modification of the three-dimensional model using the feature information includes synchronously modifying the points within the modified marked area to achieve unified and rapid modification of a certain block.

[0076] In this embodiment, corresponding to the two crossed random trajectories described above, based on the crossed random trajectories, firstly, the intersection point can be used as a feature anchor point for data calibration and positioning, and secondly, the modified point information within the intersection area can also be obtained, thereby facilitating unified modification of the area within a preset range centered on the intersection point.

[0077] S105: Generate a machining path based on the three-dimensional modified model and the workpiece finished product model.

[0078] In this embodiment, an image collector is used to collect images of the workpiece from multiple perspectives for establishing a three-dimensional model. Thereafter, a detection trajectory is generated according to the three-dimensional model, and then the probe on the spindle is controlled to move along the detection trajectory on the contour of the workpiece, so as to obtain feature information with depth information. Using this feature information, the three-dimensional model can be modified to obtain a three-dimensional modified model closer to the actual workpiece. Finally, a machining path is generated according to the three-dimensional modified model and the workpiece finished product model to finally generate a machining path that more conforms to the actual situation of the workpiece and is more accurate.

[0079] Before detection, the probe can also be used to find the origin of the machine tool coordinates. Refer to Figure 4 , the shown machine tool 1 may include a workbench 11 and a column 12. The spindle 13 is installed on the column 12, and in the spindle 13, a tool shank 15 and a probe 14 installed on the tool shank 15 are installed.

[0080] In the process of finding the origin of the machine tool 1, the probe 14 installed on the spindle 13 can first be aligned with the midpoint of the centering positioning block 16 provided in the middle of the workbench 13. On the centering positioning block 16, there may also be provided an X-axis centering line parallel to the X-axis and / or a Y-axis centering line parallel to the Y-axis, and the X-axis centering line and the Y-axis centering line intersect at the midpoint position.

[0081] After that, the workbench is moved a distance equal to half of the maximum X-axis travel in the positive X-axis direction, and the workbench is moved a distance equal to half of the maximum Y-axis travel in the positive Y-axis direction to obtain the position of the machine tool mechanical coordinate origin, thereby supporting subsequent detection by controlling the spindle 13.

[0082] See Figure 5 , which is a flowchart of the machining path generation method provided by the present invention in another embodiment. Compared with the previous embodiment, this embodiment also adds specific steps for generating the machining path. This flowchart only schematically shows some control steps for the machine tool, so some steps can be added or subtracted and / or the order of some steps can be adjusted according to different application scenarios and environmental conditions.

[0083] As Figure 5 shown, the machining path generation method provided by this embodiment may include the following steps:

[0084] S201: Collect images of the workpiece from multiple perspectives and establish a three-dimensional model of the workpiece;

[0085] S202: Generate a detection trajectory according to the three-dimensional model of the workpiece;

[0086] S203: Use the probe installed on the spindle to move along the contour of the workpiece according to the detection trajectory to obtain feature information, and the feature information at least includes the depth information of the workpiece contour;

[0087] S204: Correct the three-dimensional model according to the feature information to obtain a three-dimensional corrected model;

[0088] S205: Perform multiple simulation machinings on the three-dimensional corrected model with different machining paths based on the workpiece finished product model;

[0089] S206: Select the optimal machining path for the simulation machining. When selecting the optimal machining path, it can be based on machining effect requirements such as surface roughness and accuracy; it can also be based on the amount of calculation, etc., as the selection conditions for the optimal machining path.

[0090] Compared with the previous embodiment, on the basis of the foregoing embodiment, in this embodiment, after obtaining the three-dimensional correction model, the finished workpiece model is subjected to simulation machining with the three-dimensional correction model, so that the operator can determine the corresponding machining path according to various optimization strategies, making the planning of the machining path more flexible and the application scenarios more diverse.

[0091] Refer to Figure 6 , which exemplarily shows the functional modules of the machining path generation device provided by the present invention. The machining path generation device 100 is mainly applied to a machine tool. Figure 6 In, corresponding to the machining path generation method provided in the foregoing embodiment, the machining path generation device 100 may include a model establishment module 101, a trajectory generation module 102, a detection module 103, a correction module 104, and a machining path generation module 105, where:

[0092] The model establishment module 101 is mainly used to collect images of the workpiece from multiple perspectives and establish a three-dimensional model of the workpiece.

[0093] The trajectory generation module 102 is mainly used to generate a detection trajectory according to the three-dimensional model of the workpiece.

[0094] The detection module 103 is mainly used to move a probe installed on the spindle along the contour of the workpiece according to the detection trajectory to obtain feature information, where the feature information at least includes the depth information of the workpiece contour.

[0095] The correction module 104 mainly corrects the three-dimensional model according to the feature information to obtain a three-dimensional corrected model.

[0096] The machining path generation module 105 is mainly used to generate a machining path based on the three-dimensional corrected model and the finished workpiece model.

[0097] It can be understood that the machining path generation device 100 provided by the present invention may not be limited to the above-mentioned functional modules. According to different application scenarios and / or detection conditions, the corresponding functional modules can be appropriately increased or decreased. For example, a simulation machining module can be used to perform multiple simulation machinings on the three-dimensional corrected model with different machining paths based on the finished workpiece model; subsequently, select the machining path with the best simulation machining result.

[0098] The present invention also provides a machine tool, including a spindle and a probe that can be installed on the spindle, and further including a machine tool system. The machine tool system includes the machining path generation device as described above; or, the machine tool system includes a processor, and the processor is used to execute the steps in the machining path generation method as described above.

[0099] In addition, the present invention further provides a computer, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. Wherein, when the processor executes the computer program, the steps of the above-mentioned various machining path generation methods are implemented, for example Figure 1 the steps S101 to S105 shown in Figure 5 the steps 201 to S206 shown in, etc. Alternatively, when the processor executes the computer program, the functions of each module or unit in the above-mentioned device embodiments are implemented.

[0100] Exemplarily, the computer program can be divided into one or more modules / units, and one or more modules / units are stored in the memory and executed by the processor to complete the present invention. The above-mentioned one or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0101] The above-mentioned processor can be a Central Processing Unit (CPU), or can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the terminal device and connects various parts of the entire terminal device through various interfaces and lines.

[0102] The above-mentioned memory can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory, and by calling the data stored in the memory, the processor can implement various functions of the terminal device. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as an acquisition function, a compensation function, etc.); the data storage area can store data created according to the use of the terminal device (such as feature position data, sensing data, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0103] If a computer-integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned machining path generation method, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned machining path generation method embodiment. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, an executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0104] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0105] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned functional module units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0106] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0109] The content not described in detail in this specification belongs to the prior art well known to those skilled in the art.

[0110] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A machining path generation method, which is applied to a machine tool with a spindle, characterized in that, the method includes: Collect images of the workpiece from multiple perspectives and establish a three-dimensional model of the workpiece, where the established three-dimensional model of the workpiece is a three-dimensional model with feature points; Generate a detection trajectory according to the three-dimensional model of the workpiece, where the generation of the detection trajectory includes: fitting the distributed feature points to obtain at least two intersecting random trajectories as the detection trajectory; Use a probe installed on the spindle to move along the contour of the workpiece according to the detection trajectory to obtain feature information, where the feature information at least includes the depth information of the workpiece contour; Correct the three-dimensional model according to the feature information to obtain a three-dimensional corrected model; Generate a machining path based on the three-dimensional corrected model and the workpiece finished product model.

2. The machining path generation method according to claim 1, characterized in that, the collection of images of the workpiece from multiple perspectives and the establishment of a three-dimensional model of the workpiece include: Use a depth camera to collect images with depth information of the workpiece from at least two perspectives; Generate a three-dimensional model with feature points based on the images with depth information.

3. The machining path generation method according to claim 1, characterized in that, the correction of the three-dimensional model according to the feature information includes: Compare the depth information of the random points on the detection trajectory in the three-dimensional model with the feature information at the corresponding points detected; If the comparison value between the depth information of the random points and the feature information at the corresponding points is greater than the deviation threshold, correct the three-dimensional model using the feature information.

4. The machining path generation method according to claim 3, characterized in that, after comparing the depth information of the random points on the detection trajectory in the three-dimensional model with the feature information at the corresponding points detected, the method further includes: Obtain each of the random points whose comparison value is greater than the deviation threshold; Mark the similar contours in the three-dimensional model based on each of the random points to generate a correction marking area; the correction of the three-dimensional model using the feature information includes: Synchronously correct the points within the correction marking area.

5. The machining path generation method according to claim 1, characterized in that, the machine tool is a three-axis vertical machine tool. Before using the probe installed on the spindle to move along the contour of the workpiece according to the detection trajectory to obtain feature information, the method further includes: Align the probe installed on the spindle with the midpoint of the centering positioning block provided in the middle of the workbench. On the centering positioning block, there is also an X-axis centering line parallel to the X-axis and / or a Y-axis centering line parallel to the Y-axis, and the X-axis centering line can intersect with the Y-axis centering line at the midpoint position; Move the workbench half of the maximum stroke of the X-axis in the positive X-axis direction and move the workbench half of the maximum stroke of the Y-axis in the positive Y-axis direction to obtain the position of the machine tool mechanical coordinate origin.

6. The machining path generation method according to any one of claims 1 to 5, characterized in that, the generation of the machining path based on the three-dimensional corrected model and the workpiece finished product model includes: Performing multiple simulation machining operations on the three-dimensional correction model based on the finished workpiece model with different machining paths; Selecting the optimal machining path for the simulation machining.

7. A machining path generation device, applied to a machine tool with a spindle, Characterized in that, The device includes: A model establishment module, configured to collect images of the workpiece from multiple perspectives and establish a three-dimensional model of the workpiece, where the established three-dimensional model of the workpiece is a three-dimensional model with feature points; A trajectory generation module, configured to generate a detection trajectory according to the three-dimensional model of the workpiece, where the generation of the detection trajectory includes: fitting the distributed feature points to obtain at least two intersecting random trajectories as the detection trajectory; A detection module, configured to use a probe installed on the spindle to move along the contour of the workpiece according to the detection trajectory to obtain feature information, where the feature information at least includes the depth information of the workpiece contour; A correction module, configured to correct the three-dimensional model according to the feature information to obtain a three-dimensional correction model; A machining path generation module, configured to generate a machining path based on the three-dimensional correction model and the finished workpiece model.

8. A machine tool, including a machine tool system, Characterized in that, The machine tool system includes the machining path generation device as described in claim 7; or, the machine tool system includes a processor, and the processor is configured to execute the steps in the machining path generation method as described in any one of claims 1 to 6.

9. A readable storage medium, on which a computer program is stored, Characterized in that: When the computer program is executed by a processor, it implements the steps of the machining path generation method as described in any one of claims 1 to 6.

Images