Workpiece nesting method and device, machining equipment and readable storage medium

Abstract

The invention relates to a workpiece nesting method and device, machining equipment and a readable storage medium. The method comprises the steps that contour machining features, a machining length constraint value and a size parameter model of a workpiece are obtained; according to the contour machining characteristics and the machining length constraint value, a machining control instruction of the workpiece is determined; and according to the machining control instruction and the size parameter model, a visual contour machining path of the workpiece is determined. According to the method, nesting of workpieces of different sizes and specifications and planning and visual display of the machining process are achieved, and compared with a traditional nesting technology, the problem that the nesting and machining requirements of laser machined parts of different sizes and specifications are difficult to meet due to the fact that the laser machined parts suitable for a machining template are relatively fixed is effectively solved; the material utilization rate can be increased, meanwhile, the workpiece nesting efficiency is improved, and the higher requirement of the laser machining process is met.

Description

Technical Field

[0001] The present application relates to the field of laser processing, and in particular to a workpiece nesting method, device, processing equipment and readable storage medium. Background Art

[0002] With the continuous development of laser processing technology and the continuous enrichment of laser demand, the requirements for laser processing are getting higher and higher. In the laser processing process, nesting is an important processing planning link, which directly affects the material utilization rate.

[0003] In the nesting system of the related art, the laser processing parts suitable for the processing template are often relatively fixed, which makes it difficult to meet the nesting requirements of laser processing parts of different sizes and specifications, resulting in poor material utilization. Summary of the invention

[0004] Based on this, it is necessary to provide a workpiece nesting method, device, processing equipment and readable storage medium to address the above technical problems.

[0005] A workpiece nesting method, comprising:

[0006] Obtain the contour machining features, machining length constraint values ​​and dimensional parameter model of the workpiece;

[0007] Determining a machining control instruction for the workpiece according to the contour machining feature and the machining length constraint value;

[0008] A visualized contour machining path of the workpiece is determined according to the machining control instruction and the size parameter model.

[0009] In one embodiment, determining the visualized contour machining path of the workpiece according to the machining control instruction and the size parameter model includes:

[0010] Obtaining the coordinate transformation matrix and display window size of the workpiece;

[0011] Determining the natural coordinate lattice of the workpiece in the natural coordinate system according to the machining control instruction and the size parameter model;

[0012] Determine the screen display coordinates of the workpiece in the screen coordinate system according to the natural coordinate lattice, the coordinate transformation matrix and the display window size;

[0013] A visualized contour processing path of the workpiece is determined according to the screen display coordinates.

[0014] In one embodiment, the coordinate transformation matrix includes a view transformation matrix and a projection transformation matrix, and determining the screen display coordinates of the workpiece according to the natural coordinate lattice, the coordinate transformation matrix and the display window size includes:

[0015] Determine, according to the natural coordinate lattice and the view transformation matrix, a view coordinate lattice in which the workpiece is located in a view coordinate system;

[0016] Determine the projection coordinate lattice of the workpiece in the projection coordinate system according to the view coordinate lattice and the projection transformation matrix;

[0017] The screen display coordinates of the workpiece in the screen coordinate system are determined according to the projection coordinate matrix and the display window size.

[0018] In one embodiment, determining the machining control instruction of the workpiece according to the contour machining feature and the machining length constraint value includes:

[0019] Determining a planned machining trajectory of the workpiece according to the contour machining features;

[0020] Determining a plurality of segmented sub-processing trajectories according to the planned processing trajectory and the processing length constraint value;

[0021] According to the plurality of segmented sub-processing trajectories, a processing control instruction for the workpiece is determined.

[0022] In one embodiment, determining a plurality of segmented sub-processing trajectories according to the planned processing trajectory and the processing length constraint value includes:

[0023] Obtaining a feeding length constraint value of a processing device and a processing length distribution characteristic of the planned processing trajectory;

[0024] Determining the same-feature processing length value of the planned processing trajectory according to the processing length distribution characteristics;

[0025] According to the feeding length constraint value and the same-feature processing length value, a plurality of segmented sub-processing trajectories are determined.

[0026] In one embodiment, the step of determining a plurality of segmented sub-processing trajectories according to the feeding length constraint value and the same-feature processing length value comprises:

[0027] When the feeding length constraint value is greater than or equal to the same-feature processing length value, the planned processing trajectory is divided according to the feeding length constraint value to determine a plurality of segmented sub-processing trajectories;

[0028] When the feeding length constraint value is less than the same-feature processing length value, the planned processing trajectory is divided according to the same-feature processing length value and the feeding length constraint value to determine a plurality of segmented sub-processing trajectories.

[0029] In one embodiment, determining the processing control instruction of the workpiece according to the plurality of segmented sub-processing trajectories includes:

[0030] Acquiring the trajectory endpoint positions of a plurality of the segmented sub-processing trajectories and the idle stroke adjustment constraint value of the workpiece;

[0031] Determining the idle path between adjacent segmented sub-processing trajectories according to the trajectory endpoint positions and the idle adjustment constraint value;

[0032] The processing control instruction of the workpiece is determined according to the plurality of segmented sub-processing trajectories and the idle paths between adjacent segmented sub-processing trajectories.

[0033] A workpiece nesting device, comprising:

[0034] An acquisition module is used to acquire the contour machining features, machining length constraint values ​​and dimension parameter models of the workpiece;

[0035] An instruction determination module, connected to the acquisition module, for determining a machining control instruction of the workpiece according to the contour machining feature and the machining length constraint value;

[0036] The visual path determination module is connected to the instruction determination module and is used to determine the visual contour machining path of the workpiece according to the machining control instruction and the size parameter model.

[0037] A processing device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the above method.

[0038] A computer-readable storage medium stores a computer program, which implements the above method when executed by a processor.

[0039] A computer program product, when the computer program product is run on a terminal device, enables the terminal device to execute any of the methods described above.

[0040] The beneficial effects of the embodiments provided in this application include:

[0041] The workpiece nesting method obtains processing control instructions (such as digital control codes) applicable to workpieces with different contour processing characteristics and processing length constraint values ​​and capable of guiding workpiece nesting and processing processes according to the contour processing characteristics and processing length constraint values ​​of the workpiece (such as H-shaped steel), and obtains a visual contour processing path applicable to workpieces with different dimensional parameter models and capable of intuitively displaying the workpiece nesting and processing processes according to the obtained processing control instructions and dimensional parameter models, thereby realizing the planning and intuitive display of the nesting and processing processes of workpieces of different sizes and specifications. Compared with traditional nesting technology, it effectively improves the problem that the laser processing parts applicable to the processing template are relatively fixed and difficult to meet the nesting and processing requirements of laser processing parts of different sizes and specifications, and can improve the workpiece nesting efficiency while improving material utilization, meeting higher requirements of the laser processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A schematic diagram of a workpiece nesting method in one embodiment;

[0044] Figure 2 is a specific flow chart of step 104 in one embodiment;

[0045] Figure 3 is a schematic diagram of a workpiece nesting process in one embodiment;

[0046] Figure 4 is a schematic diagram of a workpiece nesting process in one embodiment;

[0047] Figure 5 is a specific flow chart of step 104 in one embodiment;

[0048] Figure 6 This is a specific flow chart of step 106 in one embodiment;

[0049] Figure 7 It is a schematic block diagram of the structure of a workpiece nesting device in one embodiment;

[0050] Figure 8 is a schematic block diagram of a specific structure of an instruction determination module 40 in one embodiment;

[0051] Fig. 9 is a schematic block diagram of a specific structure of an instruction determination module 40 in one embodiment;

[0052] Fig.10 is a schematic block diagram of a specific structure of a visual path determination module 60 in one embodiment;

[0053] Fig.11 Schematic diagram of the structure of a processing device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0056] Figure 1 , is a schematic flow chart of a workpiece nesting method in one embodiment.

[0057] In this embodiment, if Figure 1 As shown, the workpiece nesting method includes steps 102 to 106.

[0058] Step 102, obtaining the contour machining features, machining length constraint values ​​and dimensional parameter model of the workpiece.

[0059] The workpiece may be an H-shaped steel having different contour processing features, processing length constraints and dimensional parameter models and requiring nesting and processing. The contour processing feature may be the characteristic distribution expected to be achieved during workpiece contour processing. The processing length constraint may be the value of the workpiece processing length allowed within a single workpiece processing cycle. The dimensional parameter model may be a set that can reflect the workpiece dimensional parameters. Optionally, the processing length constraint includes a minimum processing length value and a maximum processing length value, the minimum processing length value is applied to the scenario where the minimum processing length of the workpiece allowed within a single workpiece processing cycle is constrained, and the maximum processing length value is applied to the scenario where the maximum processing length of the workpiece allowed within a single workpiece processing cycle is constrained.

[0060] The situations of obtaining the contour processing features, processing length constraint values ​​and dimensional parameter models of the workpiece include: determining the workpiece to be processed according to the processing list information, analyzing the workpiece through the parameter analysis module, and obtaining the contour processing features, processing length constraint values ​​and dimensional parameter models of the workpiece.

[0061] Step 104 , determining a machining control instruction for the workpiece according to the contour machining feature and the machining length constraint value.

[0062] The machining control instruction may be a control instruction generated based on the contour machining feature and the machining length constraint value, and may guide the workpiece nesting and machining process. Optionally, the machining control instruction may be a digital control code.

[0063] The situations in which the machining control instructions of the workpiece are determined according to the contour machining features and the machining length constraint values ​​include: determining the planned machining trajectory of the workpiece according to the contour machining features; determining multiple segmented sub-machining trajectories according to the planned machining trajectory and the machining length constraint values; and determining the machining control instructions of the workpiece according to the multiple segmented sub-machining trajectories.

[0064] The planned machining trajectory can be a machining trajectory generated based on the contour machining feature and can guide the workpiece machining process. The segmented sub-machining trajectory can be a workpiece segmented machining trajectory generated based on the planned machining trajectory and the machining length constraint value.

[0065] Step 106 , determining a visualized contour machining path of the workpiece according to the machining control instruction and the dimensional parameter model.

[0066] The visual contour machining path can be generated based on the machining control instructions and the dimensional parameter model, and can plan the machining path for intuitively displaying the workpiece nesting and machining process.

[0067] The situations in which the visual contour processing path of the workpiece is determined according to the processing control instructions and the dimensional parameter model include: obtaining the coordinate transformation matrix between different functional coordinate systems of the workpiece, and the display window size for intuitively displaying the workpiece nesting and the processing process; determining the visual contour processing path that can intuitively display the workpiece nesting and the processing process according to the processing control instructions, the dimensional parameter model, the coordinate transformation matrix and the display window size.

[0068] Obtain the coordinate transformation matrix between different functional coordinate systems of the workpiece, as well as the display window size for intuitively displaying the workpiece nesting and machining process; determine the visual contour machining path that can intuitively display the workpiece nesting and machining process based on the machining control instructions, dimensional parameter model, coordinate transformation matrix and display window size.

[0069] During the workpiece nesting process, the workpiece to be processed is determined according to the processing list information, the workpiece is analyzed through the parameter analysis module, and the contour processing characteristics, processing length constraint values ​​and size parameter model of the workpiece are obtained; according to the contour processing characteristics, the planned processing trajectory of the workpiece is determined; according to the planned processing trajectory and the processing length constraint value, multiple segmented sub-processing trajectories are determined; according to the multiple segmented sub-processing trajectories, the processing control instructions of the workpiece are determined; the coordinate conversion matrix between different functional coordinate systems of the workpiece and the display window size for intuitively displaying the workpiece nesting and processing process are obtained; according to the processing control instructions, the size parameter model, the coordinate conversion matrix and the display window size, the visual contour processing path of the workpiece is determined.

[0070] The workpiece nesting method provided in the present embodiment obtains processing control instructions (such as digital control codes) applicable to workpieces with different contour processing characteristics and processing length constraint values ​​and capable of guiding the workpiece nesting and processing process based on the contour processing characteristics and processing length constraint values ​​of the workpiece (such as H-beam), and obtains a visual contour processing path applicable to workpieces with different dimensional parameter models and capable of intuitively displaying the workpiece nesting and processing process based on the obtained processing control instructions and dimensional parameter models, thereby realizing the planning and intuitive display of the nesting and processing process of workpieces of different sizes and specifications. Compared with traditional nesting technology, it effectively improves the problem that the laser processing parts applicable to the processing template are relatively fixed and difficult to meet the nesting and processing requirements of laser processing parts of different sizes and specifications, and can improve the workpiece nesting efficiency while improving material utilization to meet higher requirements of the laser processing process.

[0071] Figure 2 , which is a specific flow chart of step 104 in an embodiment.

[0072] In this embodiment, if Figure 2 As shown, step 104 includes sub-steps 202 to 206 .

[0073] In sub-step 202, a feeding length constraint value of a processing device and a processing length distribution characteristic of a planned processing trajectory are obtained.

[0074] In sub-step 204, a processing length value with the same characteristics of the planned processing trajectory is determined according to the processing length distribution characteristics.

[0075] The feeding length constraint value may be the workpiece advancement length value allowed in a single feeding cycle. The processing length distribution feature may be the processing length distribution corresponding to different contour processing features in the workpiece. The same-feature processing length value may be the processing length corresponding to the trajectory with the same type of contour processing features in the planned processing trajectory. Optionally, the feeding length constraint value includes a minimum feeding length value and a maximum feeding length value. The minimum feeding length value is applied to the scenario where the minimum value of the workpiece advancement length allowed in a single feeding cycle is constrained, and the maximum feeding length value is applied to the scenario where the maximum value of the workpiece advancement length allowed in a single feeding cycle is constrained.

[0076] In sub-step 206, a plurality of segmented sub-processing trajectories are determined according to the feeding length constraint value and the same-feature processing length value.

[0077] The segmented sub-processing trajectory can be a sub-processing trajectory obtained by segmenting the contour processing feature of the planned processing trajectory based on the numerical comparison relationship between the feeding length constraint value and the processing length value of the same feature. Optionally, the numerical comparison relationship between the feeding length constraint value and the processing length value of the same feature includes: the feeding length constraint value is greater than or equal to the processing length value of the same feature, and the feeding length constraint value is less than the processing length value of the same feature.

[0078] The situations in which multiple segmented sub-processing trajectories are determined according to the feeding length constraint value and the same-feature processing length value include: when the feeding length constraint value is greater than or equal to the same-feature processing length value, the planned processing trajectory is divided according to the feeding length constraint value to determine multiple segmented sub-processing trajectories; when the feeding length constraint value is less than the same-feature processing length value, the planned processing trajectory is divided according to the same-feature processing length value and the feeding length constraint value to determine multiple segmented sub-processing trajectories.

[0079] For example, the processing mode of the processing equipment is cyclic feeding processing, feeding a section and processing a section, such as Figure 3 As shown in the figure, the length of the single processing area along the processing direction is the feeding length constraint value, and the section line part is represented by the same feature processing length value. For the same feature processing length values ​​such as cutting, locking, tongue, round hole, square hole, etc., which are shorter (that is, the feeding length constraint value is greater than or equal to the same feature processing length value), it is better to complete the trajectory processing with the same type of contour processing features within a single feeding cycle. If the maximum position coordinates of the processing end point after the processing is completed according to the current feeding cycle are required in advance during segmented processing, if the coordinates exceed the maximum value of the feeding length, a new feeding processing code is generated, and the processing starting point of the remaining trajectory with the same type of contour processing features is aligned with the coordinate zero point of the processing equipment, thereby ensuring the processing of the entire trajectory of the same type of contour processing features. Figure 4As shown in the figure, the length of the single processing area along the processing direction is the feeding length constraint value, and the section line part represents the same feature processing length value. For the same feature processing length value of the matrix hole, it is longer (that is, the feeding length constraint value is less than the same feature processing length value). Based on the feeding length constraint value, the trajectories with the same type of contour processing features can be reasonably divided one by one.

[0080] The workpiece nesting method provided in this embodiment determines the same-feature processing length value of the planned processing trajectory through the processing length distribution characteristics, and based on the numerical relationship between the same-feature processing length value and the feeding length constraint value of the processing equipment, reasonably divides the trajectories with the same type of contour processing features in the planned processing trajectory, thereby realizing an orderly combination of feeding control and processing control, and effectively improving the workpiece nesting and processing efficiency.

[0081] Figure 5 , which is a specific flow chart of step 104 in an embodiment.

[0082] In this embodiment, if Figure 5 As shown, step 104 includes sub-steps 502 to 506 .

[0083] In sub-step 502, the trajectory endpoint positions of a plurality of segmented sub-processing trajectories and the idle stroke adjustment constraint values ​​of the workpiece are obtained.

[0084] The trajectory endpoint position can be the position of the two end distribution points of multiple segmented sub-processing trajectories. The idle stroke adjustment constraint value can be the distance between the processing head and the workpiece allowed during the idle phase of workpiece nesting and processing. Optionally, the trajectory endpoint position includes the trajectory starting point position and the trajectory ending point position. The idle stroke adjustment constraint value includes an idle stroke adjustment minimum value and an idle stroke adjustment maximum value. The idle stroke adjustment minimum value is applied to the scenario where the minimum value of the distance between the processing head and the workpiece allowed during the idle phase of workpiece nesting and processing is constrained, and the idle stroke adjustment maximum value is applied to the scenario where the maximum value of the distance between the processing head and the workpiece allowed during the idle phase of workpiece nesting and processing is constrained.

[0085] In sub-step 504, the idle path between adjacent segmented sub-processing trajectories is determined according to the trajectory endpoint positions and the idle path adjustment constraint value.

[0086] The idle path can be a planned path for the idle stage of workpiece nesting and machining generated based on the trajectory endpoint position and the idle adjustment constraint value.

[0087] The situations in which the idle path between adjacent segmented sub-processing trajectories is determined based on the trajectory endpoint positions and the idle path adjustment constraint values ​​include: under the constraint of the idle path adjustment constraint values, the idle path between adjacent segmented sub-processing trajectories is determined based on the trajectory starting point position of one segmented sub-processing trajectory and the trajectory ending point position of another segmented sub-processing trajectory in the adjacent segmented sub-processing trajectories.

[0088] For example, the idle path of H-beam nesting and processing (such as cutting) includes web to web, web to left flange, web to right flange, left flange to left flange, left flange to web, left flange to right flange, right flange to left flange, right flange to web and right flange to right flange.

[0089] First, when the web plate reaches the web plate, just move it directly into position; when the web plate reaches the left wing plate, first lift it until the gun tip is higher than the idle travel adjustment constraint value along the vertical direction of the wing plate (such as 50mm), adjust the cutting gun to a vertical state, move it to the edge of the left wing plate, exceed the idle travel adjustment constraint value along the longitudinal direction of the left wing plate (such as 30mm), and move it to the processing position of the left wing plate while swinging the head; when the web plate reaches the right wing plate, first lift it until the gun tip is higher than the vertical idle travel adjustment constraint value (such as 50mm) of the wing plate, adjust the cutting gun to a vertical state, move it to the edge of the right wing plate, exceed the idle travel adjustment constraint value along the longitudinal direction of the right wing plate (such as 30mm), and move it to the processing position of the right wing plate while swinging the head.

[0090] Secondly, when the left wing plate is to the left wing plate, it is directly moved to the processing position of the left wing plate; when the left wing plate is to the web plate, the gun tip is first raised sideways to the left to the idle travel adjustment constraint value (such as 30mm) along the longitudinal direction of the left wing plate, and the cutting gun is moved to a vertical state while swinging the head and higher than the idle travel adjustment constraint value (such as 50mm) along the upper end of the wing plate, exceeding the idle travel adjustment constraint value (such as 30mm) along the longitudinal direction of the left wing plate, and the head is moved to the upper part of the web plate processing position while swinging the head, and descended to the idle travel adjustment constraint value (such as 50mm) along the upper part of the web plate. When the left wing plate moves to the right wing plate, first raise the gun tip laterally to the left to the idle stroke adjustment constraint value (such as 30mm) along the longitudinal direction of the left wing plate, move the gun to the vertical state while swinging the head and higher than the idle stroke adjustment constraint value (such as 50mm) along the upper end of the wing plate, exceed the idle stroke adjustment constraint value (such as 30mm) along the longitudinal direction of the left wing plate, and then move to exceed the idle stroke adjustment constraint value (such as 30mm) along the longitudinal direction of the right wing plate, and move to the processing position of the right wing plate while swinging the head.

[0091] Then, when the right wing plate reaches the right wing plate, move directly to the processing position of the right wing plate; when the right wing plate reaches the web plate, first raise the gun tip laterally to the right to the idle travel adjustment constraint value (such as 30mm) along the longitudinal direction of the right wing plate, and move the cutting gun to a vertical state while swinging the head and higher than the vertical idle travel adjustment constraint value (such as 50mm) of the upper end of the wing plate, exceeding the longitudinal idle travel adjustment constraint value (such as 30mm) of the right wing plate, and move the head to the top of the web plate processing position while swinging the head, and descend to the idle travel adjustment constraint value along the longitudinal direction of the upper web plate. When the right wing plate reaches the left wing plate, first raise the gun tip laterally to the right to the idle stroke adjustment constraint value (such as 30mm) along the longitudinal direction of the right wing plate, move the gun to the vertical state while swinging the head and higher than the idle stroke adjustment constraint value (such as 50mm) along the upper end of the wing plate, exceed the idle stroke adjustment constraint value (such as 30mm) along the longitudinal direction of the right wing plate, and then move to exceed the idle stroke adjustment constraint value (such as 30mm) in the longitudinal direction of the left wing plate, and move to the processing position of the left wing plate while swinging the head.

[0092] In sub-step 506, a machining control instruction for the workpiece is determined according to the plurality of segmented sub-machining trajectories and the idle paths between adjacent segmented sub-machining trajectories.

[0093] The workpiece nesting method provided in this embodiment successively derives the idle path between adjacent segmented sub-processing trajectories and the processing control instructions of the workpiece through the trajectory endpoint positions of multiple segmented sub-processing trajectories and the idle travel adjustment constraint values ​​of the workpiece, effectively taking into account the smooth transition between different segmented sub-processing trajectories, and improving the feasibility and feasibility of workpiece nesting.

[0094] Figure 6 , which is a specific flow chart of step 106 in one embodiment.

[0095] In this embodiment, if Figure 6 As shown, step 106 includes sub-steps 602 to 608 .

[0096] In sub-step 602, the coordinate transformation matrix of the workpiece and the display window size are obtained.

[0097] The coordinate transformation matrix may be a set of coordinate lattices of the workpiece located in different coordinate systems for transformation. The display window size may be the length and width of the display screen for intuitively displaying the workpiece nesting and processing process. Optionally, the coordinate transformation matrix includes a view transformation matrix and a projection transformation matrix. The view transformation matrix is ​​applied to the scene where the natural coordinate lattice of the workpiece located in the natural coordinate system is transformed into the view coordinate lattice of the workpiece located in the view coordinate system, and the projection transformation matrix is ​​applied to the scene where the view coordinate lattice of the workpiece located in the view coordinate system is transformed into the projection coordinate lattice of the workpiece located in the projection coordinate system.

[0098] The situations of obtaining the coordinate transformation matrix of the workpiece include: obtaining the view acquisition position (such as the camera position), the position of the workpiece, the upward amount, the viewing angle, the near plane and the far plane; obtaining the view transformation matrix according to the view acquisition position (such as the camera position), the position of the workpiece and the upward amount; and obtaining the projection transformation matrix according to the display window size (such as the length and width of the display screen), the viewing angle, the near plane and the far plane.

[0099] In sub-step 604, a natural coordinate lattice of the workpiece in the natural coordinate system is determined according to the machining control instruction and the dimension parameter model.

[0100] The situations in which the natural coordinate lattice of the workpiece in the natural coordinate system is determined according to the processing control instructions and the dimension parameter model include: determining the three-dimensional position coordinates of the workpiece according to the planned processing trajectory, segmented sub-processing trajectory, idle path and the dimension parameter model of the workpiece included in the processing control instructions of the workpiece, and sorting and storing the obtained three-dimensional position coordinates, thereby determining the natural coordinate lattice of the workpiece in the natural coordinate system.

[0101] In sub-step 606, the screen display coordinates of the workpiece in the screen coordinate system are determined according to the natural coordinate lattice, the coordinate transformation matrix and the display window size.

[0102] The situations in which the screen display coordinates of a workpiece are determined based on the natural coordinate lattice, the coordinate transformation matrix and the display window size include: determining the view coordinate lattice of the workpiece in the view coordinate system based on the natural coordinate lattice and the view transformation matrix; determining the projection coordinate lattice of the workpiece in the projection coordinate system based on the view coordinate lattice and the projection transformation matrix; determining the screen display coordinates of the workpiece in the screen coordinate system based on the projection coordinate lattice and the display window size.

[0103] The situations in which the screen display coordinates of the workpiece in the screen coordinate system are determined based on the projection coordinate dot matrix and the display window size include: determining the standard device coordinate dot matrix of the workpiece in the standardized device coordinate system based on the obtained projection coordinate dot matrix; and then determining the screen display coordinates of the workpiece in the screen coordinate system based on the obtained standard device coordinate dot matrix and the display window size.

[0104] In sub-step 608, a visualized contour processing path of the workpiece is determined according to the screen display coordinates.

[0105] The case of determining the visualized contour processing path of the workpiece according to the screen display coordinates includes: sequentially connecting the obtained multiple screen display coordinates to obtain the visualized contour processing path of the workpiece located on the two-dimensional display screen.

[0106] In the process of workpiece nesting, the view acquisition position (such as camera position), the position of the workpiece, the upward amount, the viewing angle, the near plane and the far plane are obtained; according to the view acquisition position (such as camera position), the position of the workpiece and the upward amount, the view conversion matrix is ​​obtained; according to the display window size (such as the length and width of the display screen), the viewing angle, the near plane and the far plane, the projection conversion matrix is ​​obtained; according to the planned processing trajectory, the segmented sub-processing trajectory, the idle path and the size parameter model of the workpiece included in the processing control instruction of the workpiece, the three-dimensional position coordinates of the workpiece are determined, and the obtained three-dimensional position coordinates are sorted and stored, so as to determine the natural coordinate lattice of the workpiece in the natural coordinate system; according to the natural coordinate lattice and the view conversion matrix, the view coordinate lattice of the workpiece in the view coordinate system is determined; according to the view coordinate lattice and the projection conversion matrix, the projection coordinate lattice of the workpiece in the projection coordinate system is determined; according to the projection coordinate lattice and the display window size, the screen display coordinates of the workpiece in the screen coordinate system are determined; the obtained multiple screen display coordinates are connected in order, so as to obtain the visualization contour processing path of the workpiece on the two-dimensional display screen.

[0107] The workpiece nesting method provided in this embodiment realizes the coordinate transformation of the workpiece in the natural coordinate system, view coordinate system, projection coordinate system, standardized device coordinate system and screen coordinate system in sequence based on the display window size, view acquisition position (such as camera position), workpiece position, upward quantity, viewing angle, near plane and far plane, and then obtains the visualized contour processing path of the workpiece on the two-dimensional display screen. While realizing the planning and intuitive display of the nesting and processing process of workpieces of different sizes and specifications, the feasibility and accuracy of the workpiece nesting method are effectively guaranteed.

[0108] It should be understood that, although the various steps in the above flowchart are displayed in sequence according to the prompts of the arrows, these steps are not necessarily executed in sequence in the order of the arrow prompts. Unless clearly stated in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the above sub-steps may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps. It should be noted that the above different embodiments can be combined with each other.

[0109] Figure 7 , is a schematic block diagram of the structure of a workpiece nesting device in one embodiment.

[0110] In this embodiment, if Figure 7As shown, the workpiece nesting device is applied to a processing trajectory including a plurality of sub-processing trajectories, and the workpiece nesting device includes an acquisition module 20 , an instruction determination module 40 and a visual path determination module 60 .

[0111] The acquisition module 20 is used to acquire the contour machining features, machining length constraint values ​​and dimensional parameter model of the workpiece.

[0112] The instruction determination module 40 is connected to the acquisition module 20 and is used to determine the machining control instruction of the workpiece according to the contour machining characteristics and the machining length constraint value.

[0113] The visual path determination module 60 is connected to the instruction determination module 40 and is used to determine the visual contour machining path of the workpiece according to the machining control instruction and the dimension parameter model.

[0114] In this embodiment, each module is used to execute Figure 1 For details of the steps in the corresponding embodiments, please refer to Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments are not repeated here.

[0115] The workpiece nesting device provided in the present embodiment obtains processing control instructions (such as digital control codes) applicable to workpieces with different contour processing characteristics and processing length constraint values ​​and capable of guiding the workpiece nesting and processing process based on the contour processing characteristics and processing length constraint values ​​of the workpiece (such as H-beam), and obtains a visual contour processing path applicable to workpieces with different dimensional parameter models and capable of intuitively displaying the workpiece nesting and processing process based on the obtained processing control instructions and dimensional parameter models, thereby realizing the planning and intuitive display of the nesting and processing process of workpieces of different sizes and specifications. Compared with traditional nesting technology, it effectively improves the problem that the laser processing parts applicable to the processing template are relatively fixed and difficult to meet the nesting and processing requirements of laser processing parts of different sizes and specifications, and can improve the workpiece nesting efficiency while improving material utilization to meet higher requirements of the laser processing process.

[0116] Figure 8 , which is a schematic block diagram of the specific structure of the instruction determination module 40 in an embodiment.

[0117] In this embodiment, if Figure 8 As shown, the instruction determination module 40 includes a feature acquisition unit 420 , a feature determination unit 440 and a segmented trajectory determination unit 460 .

[0118] The feature acquisition unit 420 is used to acquire the feeding length constraint value of the processing equipment and the processing length distribution characteristics of the planned processing trajectory.

[0119] The same-feature determination unit 440 is connected to the length feature acquisition unit 420 and is used to determine the same-feature processing length value of the planned processing trajectory according to the processing length distribution characteristics.

[0120] The segmented trajectory determination unit 460 is connected to the same-feature determination unit 440, and is used to determine a plurality of segmented sub-processing trajectories according to the feeding length constraint value and the same-feature processing length value.

[0121] In this embodiment, each unit is used to execute Figure 2 For details of the steps in the corresponding embodiments, please refer to Figure 2 as well as Figure 2 The relevant descriptions in the corresponding embodiments are not repeated here.

[0122] Fig. 9 , which is a schematic block diagram of the specific structure of the instruction determination module 40 in an embodiment.

[0123] In this embodiment, if Fig. 9 As shown, the instruction determination module 40 includes a position parameter acquisition unit 410 , an idle path determination unit 430 and a control instruction determination unit 450 .

[0124] The position parameter acquisition unit 410 is used to acquire the trajectory endpoint positions of multiple segmented sub-processing trajectories and the idle stroke adjustment constraint value of the workpiece.

[0125] The idle path determining unit 430 is connected to the position parameter acquiring unit 410 and is used to determine the idle path between adjacent segmented sub-processing trajectories according to the trajectory endpoint positions and the idle path adjustment constraint values.

[0126] The control instruction determination unit 450 is connected to the idle path determination unit 430, and is used to determine the processing control instruction of the workpiece according to the idle paths between the plurality of segmented sub-processing trajectories and adjacent segmented sub-processing trajectories.

[0127] In this embodiment, each unit is used to execute Figure 5 For details of the steps in the corresponding embodiments, please refer to Figure 5 as well as Figure 5 The relevant descriptions in the corresponding embodiments are not repeated here.

[0128] Fig.10 , is a schematic block diagram of the specific structure of the visual path determination module 60 in an embodiment.

[0129] In this embodiment, if Fig.10 As shown, the visible path determination module 60 includes a matrix parameter acquisition unit 620 , a natural coordinate determination unit 640 , a screen coordinate determination unit 660 and a processing path determination unit 680 .

[0130] The matrix parameter acquisition unit 620 is used to acquire the coordinate transformation matrix of the workpiece and the display window size.

[0131] The natural coordinate determination unit 640 is connected to the matrix parameter acquisition unit 620 and is used to determine the natural coordinate lattice of the workpiece in the natural coordinate system according to the processing control instruction and the size parameter model.

[0132] The screen coordinate determination unit 660 is connected to the natural coordinate determination unit 640 and is used to determine the screen display coordinates of the workpiece in the screen coordinate system according to the natural coordinate dot matrix, the coordinate transformation matrix and the display window size.

[0133] The processing path determining unit 680 is connected to the screen coordinate determining unit 660 and is used to determine the visual contour processing path of the workpiece according to the screen display coordinates.

[0134] In this embodiment, each unit is used to execute Figure 6 For details of the steps in the corresponding embodiments, please refer to Figure 6 as well as Figure 6 The relevant descriptions in the corresponding embodiments are not repeated here.

[0135] Each unit in the above-mentioned embodiment is used to execute each step in the above-mentioned corresponding embodiment. Please refer to the relevant description in the above-mentioned corresponding embodiment for details, which will not be repeated here.

[0136] The division of the various modules in the above-mentioned workpiece nesting device is only for illustration. In other embodiments, the workpiece nesting device can be divided into different modules as needed to complete all or part of the functions of the above-mentioned workpiece nesting device.

[0137] The specific definition of the workpiece nesting device can be found in the definition of the workpiece nesting method above, which will not be repeated here. Each module in the above-mentioned workpiece nesting device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the processing equipment in the form of hardware, or can be stored in the memory in the processing equipment in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0138] Fig.11 , is a schematic diagram of the structure of a processing device in an embodiment.

[0139] In this embodiment, if Fig.11 As shown, the processing equipment includes a memory A1 and a processor A2; it may also include a display screen A3, a communications interface (Communications Interface) and a bus. Optionally, the processing equipment may be a laser processing equipment.

[0140] Among them, the memory A1, the processor A2, the display screen A3 and the communication interface can communicate with each other through a bus; the display screen A3 is set to display the user operation interface preset in the initial setting mode, and the display screen A3 can also display the process control window; the communication interface can transmit information; the memory A1 stores a computer program, and the processor A2 can call the logical instructions in the memory A1 to execute the method in the above embodiment.

[0141] In addition, the logic instructions in the above-mentioned memory A1 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent workpiece.

[0142] The memory A1 is a computer-readable storage medium that can be configured to store software programs, computer executable programs, such as program instructions or modules corresponding to the methods in the embodiments of the present application. The processor A2 executes functional applications and data processing by running the software programs, instructions or modules stored in the memory A1, that is, implementing the methods in the above embodiments.

[0143] The memory A1 includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application required for at least one function; the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory A1 can include a high-speed random access memory and a non-volatile memory.

[0144] Processor A2 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0145] The present application also provides a computer-readable storage medium, one or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, enable the processors to execute the method in the above embodiment.

[0146] The embodiment of the present application also provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the method in the above embodiment.

[0147] The workpiece nesting method, device, processing equipment and readable storage medium provided in the above-mentioned embodiments are applied to a processing trajectory including multiple sub-processing trajectories. According to the trajectory characteristic parameters and trajectory error constraint values ​​of adjacent sub-processing trajectories (such as adjacent linear sub-processing trajectories), a substitute sub-processing trajectory is obtained that can be used to replace adjacent sub-processing trajectories and their trajectory junctions (such as line segments and line segment corners composed of adjacent linear sub-processing trajectories of different lengths), and the complete processing trajectory is adjusted based on the obtained substitute sub-processing trajectory to obtain a preprocessing result of the processing trajectory, that is, a processing trajectory that satisfies the trajectory error and takes into account the processing feed speed. Compared with the initial processing trajectory, the adjusted processing trajectory effectively improves the trajectory smoothness of the original trajectory junction, and thus can maintain a larger processing feed speed at the trajectory junction of adjacent sub-processing trajectories, while ensuring the continuity of the speed and acceleration at the trajectory junction, thereby improving the problem of abnormal vibration of the machine tool caused by uneven changes in the trajectory curvature, thereby ensuring the laser processing accuracy while meeting the higher requirements of laser processing efficiency, and has important economic value and promotion and practical value.

[0148] Any reference to memory, storage, database or other medium used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM), which is used as an external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0149] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0150] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A workpiece nesting method, characterized in that: include: Obtain the contour machining features, machining length constraint values ​​and dimensional parameter model of the workpiece; Determining a machining control instruction for the workpiece according to the contour machining feature and the machining length constraint value; A visualized contour machining path of the workpiece is determined according to the machining control instruction and the size parameter model.

2. The workpiece nesting method according to claim 1, characterized in that: Determining the visualized contour machining path of the workpiece according to the machining control instruction and the size parameter model includes: Obtaining the coordinate transformation matrix and display window size of the workpiece; Determining the natural coordinate lattice of the workpiece in the natural coordinate system according to the machining control instruction and the size parameter model; Determine the screen display coordinates of the workpiece in the screen coordinate system according to the natural coordinate lattice, the coordinate transformation matrix and the display window size; A visualized contour processing path of the workpiece is determined according to the screen display coordinates.

3. The workpiece nesting method according to claim 2, characterized in that: The coordinate transformation matrix includes a view transformation matrix and a projection transformation matrix, and determining the screen display coordinates of the workpiece according to the natural coordinate lattice, the coordinate transformation matrix and the display window size includes: Determine, according to the natural coordinate lattice and the view transformation matrix, a view coordinate lattice in which the workpiece is located in a view coordinate system; Determine the projection coordinate lattice of the workpiece in the projection coordinate system according to the view coordinate lattice and the projection transformation matrix; The screen display coordinates of the workpiece in the screen coordinate system are determined according to the projection coordinate matrix and the display window size.

4. The workpiece nesting method according to claim 1, characterized in that: The step of determining the machining control instruction of the workpiece according to the contour machining feature and the machining length constraint value comprises: Determining a planned machining trajectory of the workpiece according to the contour machining features; Determining a plurality of segmented sub-processing trajectories according to the planned processing trajectory and the processing length constraint value; According to the plurality of segmented sub-processing trajectories, a processing control instruction for the workpiece is determined.

5. The workpiece nesting method according to claim 4, characterized in that: The step of determining a plurality of segmented sub-processing trajectories according to the planned processing trajectory and the processing length constraint value comprises: Obtaining a feeding length constraint value of a processing device and a processing length distribution characteristic of the planned processing trajectory; Determining the same-feature processing length value of the planned processing trajectory according to the processing length distribution characteristics; According to the feeding length constraint value and the same-feature processing length value, a plurality of segmented sub-processing trajectories are determined.

6. The workpiece nesting method according to claim 5, characterized in that: The step of determining a plurality of segmented sub-processing trajectories according to the feeding length constraint value and the same-feature processing length value comprises: When the feeding length constraint value is greater than or equal to the same-feature processing length value, the planned processing trajectory is divided according to the feeding length constraint value to determine a plurality of segmented sub-processing trajectories; When the feeding length constraint value is less than the same-feature processing length value, the planned processing trajectory is divided according to the same-feature processing length value and the feeding length constraint value to determine a plurality of segmented sub-processing trajectories.

7. The workpiece nesting method according to claim 4, characterized in that: Determining the processing control instruction of the workpiece according to the plurality of segmented sub-processing trajectories comprises: Acquiring the trajectory endpoint positions of a plurality of the segmented sub-processing trajectories and the idle stroke adjustment constraint value of the workpiece; Determining the idle path between adjacent segmented sub-processing trajectories according to the trajectory endpoint positions and the idle adjustment constraint value; The processing control instruction of the workpiece is determined according to the plurality of segmented sub-processing trajectories and the idle paths between adjacent segmented sub-processing trajectories.

8. A workpiece nesting device, characterized in that: include: An acquisition module is used to acquire the contour machining features, machining length constraint values ​​and dimension parameter models of the workpiece; An instruction determination module, connected to the acquisition module, for determining a machining control instruction of the workpiece according to the contour machining feature and the machining length constraint value; The visual path determination module is connected to the instruction determination module and is used to determine the visual contour machining path of the workpiece according to the machining control instruction and the size parameter model.

9. A processing equipment, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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