Two-dimensional cavity machining route planning method and device, medium and computer program

Abstract

The embodiment of the invention relates to the field of industrial robots, and discloses a two-dimensional cavity machining route planning method and device, a medium and a computer program.The method comprises the steps that all machining areas and avoiding areas of a two-dimensional cavity are obtained; processing rings of all the processing areas are extracted and combined to obtain initial processing rings, and avoiding rings of all the avoiding areas are extracted; wherein the machining ring is a first contour line of the machining area, and the avoiding ring is a second contour line of the avoiding area; expanding each avoiding ring according to a preset radius to obtain a corresponding target avoiding ring, and repeatedly performing Boolean operation to obtain a difference set by using the initial processing ring and each target avoiding ring to obtain a target processing ring; and a robot is controlled to machine the two-dimensional cavity along the target machining ring. According to the method, the final machining area can be quickly and accurately obtained, the machining route is automatically planned, and the programming efficiency of robot path planning is improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to a two-dimensional cavity machining route planning method, equipment, medium and computer program. Background Art

[0002] With the development of technology, the application of industrial robots is becoming more and more extensive. In the fields of 3C, 3D printing, photovoltaic cleaning, etc., the working paths required by robots are becoming more and more complex. Among them, the two-dimensional cavity area path planning method is becoming more and more important. At present, when using industrial robots for two-dimensional cavity path planning, engineers need to draw safe processing rings as path generation areas based on their experience and the tools used, referring to the two-dimensional cavity features.

[0003] For 2D cavity processing, it is required to cut the entire area of ​​the inner cavity as cleanly as possible, leaving no dead corners, no islands, and avoiding interference with the 2D cavity side walls or other adjacent features. No margin is left at the open boundary. Therefore, when the 2D cavity features are complex, the robot processing path planning becomes more complex, and manual planning is inefficient. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a two-dimensional cavity processing route planning method, equipment, medium and computer program. The present invention quickly and accurately obtains the final processing area based on the selected processing area and protection area, automatically plans the processing route, and improves the programming efficiency of the robot path planning.

[0005] To solve the above technical problems, an embodiment of the present invention provides a two-dimensional cavity processing route planning method, including: obtaining all processing areas and avoidance areas of the two-dimensional cavity; extracting the processing ring of each processing area and combining them to obtain an initial processing ring, and extracting the avoidance ring of each avoidance area; wherein the processing ring is the first contour line of the processing area, and the avoidance ring is the second contour line of the avoidance area; expanding each avoidance ring with a preset radius to obtain a corresponding target avoidance ring, repeatedly performing Boolean operations on the initial processing ring and each target avoidance ring to obtain a difference set, and obtaining a target processing ring; controlling the robot to process the two-dimensional cavity along the target processing ring.

[0006] An embodiment of the present invention also provides a two-dimensional cavity processing route planning device, including: an acquisition module, used to acquire all processing areas and avoidance areas of the two-dimensional cavity; a ring module, used to extract the processing rings of each processing area and merge them to obtain an initial processing ring, and extract the avoidance ring of each avoidance area; wherein the processing ring is the first contour line of the processing area, and the avoidance ring is the second contour line of the avoidance area; an expansion module, used to expand each avoidance ring with a preset radius to obtain a corresponding target avoidance ring, and repeatedly perform Boolean operations on the initial processing ring and each target avoidance ring to obtain a difference set to obtain a target processing ring; a planning module, used to control the robot to process the two-dimensional cavity along the target processing ring.

[0007] An embodiment of the present invention also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the two-dimensional cavity machining route planning method as described above.

[0008] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, which implements the two-dimensional cavity machining route planning method as described above when executed by a processor.

[0009] Compared with the related art, the embodiments of the present invention determine the processing area and the avoidance area, extract the processing ring and the avoidance ring, and merge the processing rings to obtain the initial processing ring. According to the preset radius, the avoidance area is automatically expanded to obtain the corresponding target avoidance ring, and Boolean operations such as "intersection and difference" are performed on the target avoidance ring and the initial processing ring to quickly and accurately obtain the final processing area, thereby reducing the dependence of two-dimensional cavity processing path planning on personnel and improving the efficiency of robot path planning programming.

[0010] In addition, the processing rings of each processing area are extracted and combined to obtain an initial processing ring, including: sequentially extracting the first contour lines obtained by the projection of each processing area perpendicular to the plane where the two-dimensional cavity is located, and taking each of the first contour lines as the processing ring of the processing area corresponding to the first contour line; performing Boolean operations on all the processing rings and taking the union to obtain the initial processing ring.

[0011] In addition, extracting the avoidance ring of each avoidance area includes: sequentially extracting the second contour line obtained by projecting each avoidance area perpendicular to the plane where the two-dimensional cavity is located, and determining the avoidance ring of each avoidance area based on the second contour line.

[0012] In addition, determining the avoidance ring of each avoidance area based on the second contour line includes: judging in turn whether the area of ​​the closed figure enclosed by each second contour line is zero; if it is not zero, using the second contour line as the avoidance ring of the corresponding avoidance area.

[0013] In addition, the avoidance ring for each avoidance area is determined based on the second contour line, including: judging in turn whether the area of ​​the closed figure enclosed by each second contour line is zero; if it is zero, biasing the second contour line in a direction away from the processing area to obtain an offset contour line; connecting the second contour line and the offset contour line to form an offset ring, and using the offset ring as the avoidance ring of the avoidance area corresponding to the second contour line.

[0014] In addition, the preset radius mentioned above is the radius of the end effector of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0016] Figure 1 It is a schematic flow chart of a two-dimensional cavity machining route planning method provided by an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of a ring merging process provided by another embodiment of the present invention;

[0018] Figure 3 is an exemplary diagram of a processing area of ​​a two-dimensional cavity provided by another embodiment of the present invention;

[0019] Figure 4 is an exemplary diagram of a machining ring of a two-dimensional cavity provided by another embodiment of the present invention;

[0020] Figure 5 is an exemplary diagram of an initial machining ring of a two-dimensional cavity provided by another embodiment of the present invention;

[0021] Figure 6 is an example diagram of an avoidance area of ​​a two-dimensional cavity provided by another embodiment of the present invention;

[0022] Figure 7 is an example diagram of an avoidance ring of a two-dimensional cavity provided by another embodiment of the present invention;

[0023] Figure 8 is an example diagram of the expansion of an avoidance ring of a two-dimensional cavity provided by another embodiment of the present invention;

[0024] Fig. 9is an example diagram of determining a target machining ring for a two-dimensional cavity provided by another embodiment of the present invention;

[0025] Fig.10 is an example diagram of a bias ring construction process provided by another embodiment of the present invention;

[0026] Fig.11 It is a schematic diagram of the structure of an electronic device provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are provided to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.

[0028] Before describing this solution in detail, the two-dimensional cavity involved in this application is first described. A two-dimensional cavity refers to a flat-bottomed pit with an open contour boundary or a closed contour boundary, and may have one or more islands. It is a common structural feature in the 3D printing and photovoltaic cleaning industries. For two-dimensional cavity processing, it is required to cut the entire area of ​​the inner cavity area as cleanly as possible, leaving no dead corners, no islands, and avoiding interference with the cavity sidewalls or other adjacent features. At the open boundary, no margin is left. Therefore, when the cavity features are complex, the robot path planning becomes more and more complex, and the programming efficiency is low. This is also the focus of the current robot computer-aided manufacturing (CAM) programming software products to improve programming efficiency and continuously optimize. At present, the two-dimensional cavity processing algorithm of robot CAM software is mostly concentrated on the path planning of a single closed area. However, from the perspective of the entire product design, for cavities with islands, areas with openings, and areas where the sidewalls need to be avoided, not only the interference and overcutting of the tool and its own area should be considered, but also the interference problem of adjacent features should be considered. Therefore, for complex cavities with multiple islands, how to quickly and accurately determine the processing area and create a safe and reasonable processing route is an urgent problem to be solved.

[0029] One embodiment of the present invention relates to a two-dimensional cavity machining route planning method, such as Figure 1 As shown, the specific steps include:

[0030] Step 101: Obtain all processing areas and avoidance areas of the two-dimensional cavity.

[0031] Specifically, the processing area and avoidance area of ​​the two-dimensional cavity can be preset information, which is selected manually according to the specific structure of the two-dimensional cavity. The processing area generally includes: through holes, holes, through grooves, outer contours, chamfers, processing planes, etc.; the avoidance area, also known as the restricted area, refers to the area that the robot will not enter when processing the cavity with islands, areas with openings, side walls, etc. from the perspective of the entire product design. Therefore, in the specific implementation, the graphic areas involved in the path planning process of the cavity processing can be grouped according to the cavity characteristics, and divided into two groups according to the attributes, the processing area and the avoidance area. The grouping method is: the area that needs to be processed in the cavity is added to the processing area, and the non-processing area that interferes with the processing area, such as the island that is not processed, the side wall that needs to be avoided, and the adjacent features that need to be avoided, is added to the avoidance area. Among them, the number of processing areas is at least one, and the number of avoidance areas is at least one. This application does not make specific restrictions on the specific processing area determination method and the specific processing area and avoidance area.

[0032] Step 102: extracting the machining ring of each machining area and merging the rings to obtain an initial machining ring, and extracting the avoidance ring of each avoidance area;

[0033] The processing ring is the first contour line of the processing area, and the avoidance ring is the second contour line of the avoidance area.

[0034] Specifically, after all the processing areas and avoidance areas of the two-dimensional cavity are obtained, the processing ring of each processing area is extracted. And, for each avoidance area, the avoidance ring of the avoidance area is extracted. For each processing area, the closed figure surrounded by its first contour line is extracted as the processing ring of the processing area. It should be noted that when the processing area is a complex area composed of multiple processing areas, each processing area has a processing ring, and there may be overlap or adjoining between the processing rings. In order to reduce the processing complexity and ensure the continuity of the subsequent processing path, the processing ring of each processing area is merged to obtain the initial processing ring.

[0035] For example, Figure 2 As shown in FIG. 1 , after extracting the machining rings for each machining area, the extracted machining rings C1, C2, C3, C4, and C5 are obtained. The above machining rings C1, C2, C3, C4, and C5 are obtained by using Boolean operations to obtain the union. Figure 2 It can be seen that the processing rings C1, C2, C3, and C4 are adjacent to each other. After being merged, the processing rings C1, C2, C3, and C4 are merged into processing ring C6.

[0036] Step 103: Expand each avoidance ring with a preset radius to obtain a corresponding target avoidance ring, and repeatedly perform Boolean operations on the initial processing ring and each target avoidance ring to obtain a difference set to obtain a target processing ring.

[0037] Specifically, after extracting the avoidance ring for each avoidance area, since the avoidance area is an area that the robot cannot enter and cannot destroy when performing processing operations. However, considering the working radius of the processing robot, when the center of the robot tool is located on the processing ring, if the avoidance ring and the processing ring are directly cut, an overcut of half the tool diameter will be formed in the avoidance area, destroying the avoidance area. Therefore, each avoidance ring is expanded according to the preset radius to prevent the processing robot from destroying the avoidance area during processing. Each avoidance ring is expanded with a preset radius to obtain multiple target avoidance rings, and the initial processing ring is used to perform Boolean operations with the target avoidance ring one by one to obtain the difference set, and the difference set result is Boolean operated again with the next target avoidance ring to obtain the difference set, until all target avoidance rings have undergone a Boolean operation to obtain the target processing ring.

[0038] Step 104: Control the robot to process the two-dimensional cavity along the target processing ring.

[0039] Specifically, after obtaining the target processing ring, the target processing ring is used as the planned processing route, and the tool center of the end processing tool of the robot is controlled to perform processing along the target processing ring.

[0040] Compared with the related art, this embodiment determines the processing area and the avoidance area, extracts the processing ring and the avoidance ring, and merges the processing rings to obtain the initial processing ring. According to the preset radius, the avoidance area is automatically expanded to obtain the corresponding target avoidance ring, and Boolean operations such as "intersection and difference" are performed on the target avoidance ring and the initial processing ring to quickly and accurately obtain the final processing area, thereby reducing the dependence of two-dimensional cavity processing path planning on personnel and improving the efficiency of robot path planning programming.

[0041] Another embodiment of the present invention relates to a multi-robot collaboration method. This embodiment supplements and refines the aforementioned embodiment, and specifically relates to the following contents.

[0042] In one example, the extraction of the machining rings of each machining area in step 102 and the union of the rings to obtain the initial machining ring include: sequentially extracting the first contour lines obtained by the projection of each machining area perpendicular to the plane where the two-dimensional cavity is located, and using each first contour line as the machining ring of the machining area corresponding to the first contour line; performing Boolean operations on all the machining rings to obtain the union of the rings to obtain the initial machining ring.

[0043] Specifically, Figure 3 Take the two-dimensional cavity in as an example, Figure 3 1, 2, 3, and 4 are processing areas. The first contour lines obtained by the projection of each processing area perpendicular to the plane where the two-dimensional cavity is located are extracted in sequence. Each first contour line is used as the processing ring of the processing area corresponding to the first contour line. The extracted processing ring is as follows Figure 4 As shown. Perform Boolean operations on all processing rings and take the union to obtain the initial processing ring C0 as shown Figure 5 shown.

[0044] Correspondingly, in another example, extracting the avoidance ring of each avoidance area includes: sequentially extracting the second contour line obtained by projecting each avoidance area perpendicular to the plane where the two-dimensional cavity is located, and determining the avoidance ring of each avoidance area based on the second contour line.

[0045] Specifically, Figure 3 , 4 , 5 corresponding to, such as Figure 6 As shown, Figure 6 Areas 1, 2, 3, 4, 5, 6, 7, and 8 shown in the figure are all avoidance areas. Figure 6 The avoidance area in the cavity is extracted, and the second contour line obtained by the projection of each avoidance area perpendicular to the plane where the two-dimensional cavity is located is extracted in turn. The avoidance ring of each avoidance area is determined based on the second contour line. Figure 7 As shown. Figure 6 Based on the example, in step 103, each avoidance ring is expanded with a preset radius to obtain a corresponding target avoidance ring, and the operation of repeatedly performing Boolean operations on the initial processing ring and each target avoidance ring to obtain a difference set to obtain the target processing ring can be specifically: Figure 7 The avoidance rings in are expanded one by one with a preset radius to obtain the expanded target avoidance ring P0, as shown in Figure 8 As shown, the preset radius is the radius of the end effector of the robot. Fig. 9 As shown, the initial processing ring C0 obtained in step 102 is used to perform a Boolean operation on the target avoidance ring P0 to obtain a difference set, thereby obtaining a target processing ring Ct.

[0046] In this process, it should be noted that the second contour line of each avoidance area forms a closed figure, which may be any regular or irregular figure, or may be just a curve. The curve here includes straight lines, broken lines, line segments, arcs, etc., and this application does not make specific restrictions.

[0047] In one example, determining an avoidance ring of an avoidance area based on a second contour line includes: determining in turn whether the area of ​​a closed figure enclosed by each second contour line is zero; if not zero, using the second contour line as the avoidance ring of the corresponding avoidance area; if zero, biasing the second contour line in a direction away from the processing area to obtain an offset contour line; connecting the second contour line and the offset contour line to form an offset ring, and using the offset ring as the avoidance ring of the avoidance area corresponding to the second contour line.

[0048] Specifically, by judging whether the area of ​​the closed figure enclosed by the second contour line of the avoidance area is zero, it can be judged whether the avoidance area is a vertical surface; if it is not zero, the avoidance area is a non-vertical surface, and the closed figure enclosed by its second contour line can be directly used as the avoidance ring. If it is zero, the avoidance area is a vertical surface. If the vertical surface is used as the avoidance area, the second contour line obtained cannot form an avoidance ring because the vertical surface is a curve under projection. When the area of ​​the closed figure enclosed by the second contour line is 0, that is, the second contour line is a curve, such as Fig.10 As shown, in this embodiment, the offset contour line is obtained by offsetting the second contour line in a direction away from the processing area; the second contour line and the offset contour line are connected to form a ring to form an offset ring, and the offset ring is used as an avoidance ring of the avoidance area corresponding to the second contour line whose enclosed closed figure area is 0.

[0049] Compared with the related art, the embodiment of the present application screens out the area where the avoidance area is a vertical surface by judging whether the area of ​​the closed figure enclosed by the second contour line of the avoidance area is zero, and constructs an avoidance ring with an area greater than zero for the avoidance area, and obtains the final target processing ring in combination with the initial processing ring. In order to ensure that the open area in the cavity feature is processed without margin, the tool center is located on the processing ring during path planning. The above solution of the present application can ensure that no overcutting occurs after the path is generated.

[0050] Another embodiment of the present invention relates to a two-dimensional cavity machining route planning device, comprising: an acquisition module, for acquiring all machining areas and avoidance areas of the two-dimensional cavity;

[0051] A ring merging module is used to extract the machining rings of the machining area and merge them to obtain the initial machining ring, and to extract the avoidance ring of each avoidance area; wherein the machining ring is the first contour line of the machining area, and the avoidance ring is the second contour line of the avoidance area;

[0052] An expansion module is used to expand each avoidance ring with a preset radius to obtain a corresponding target avoidance ring, and repeatedly perform Boolean operations on the initial processing ring and each target avoidance ring to obtain a difference set to obtain a target processing ring;

[0053] The planning module is used to control the robot to process the two-dimensional cavity along the target processing ring.

[0054] It is worth noting that the working principle of the two-dimensional cavity machining route planning device provided in the above embodiments can refer to the workflow of the two-dimensional cavity machining route planning method provided in any of the above embodiments, which will not be repeated here. In addition, the specific implementation details related to the acquisition module, the loop module, the expansion module, and the planning module have been recorded in the above embodiments, and the implementation details recorded in each embodiment can be used in this embodiment, which will not be repeated here.

[0055] Compared with the related art, the two-dimensional cavity processing route planning device of this embodiment determines the processing area and the avoidance area, extracts the processing ring and the avoidance ring, and merges the processing rings to obtain the initial processing ring. According to the preset radius, the avoidance area is automatically expanded to obtain the corresponding target avoidance ring, and Boolean operations such as "intersection and difference" are performed on the target avoidance ring and the initial processing ring to quickly and accurately obtain the final processing area, which reduces the dependence of two-dimensional cavity processing path planning on personnel and improves the efficiency of robot path planning programming.

[0056] Another embodiment of the present invention relates to an electronic device, such as Fig.11 As shown, it includes at least one processor 401; and a memory 402 that is communicatively connected to the at least one processor 401; wherein the memory 402 stores instructions that can be executed by the at least one processor 401, and the instructions are executed by the at least one processor 401 so that the at least one processor 401 can execute the above-mentioned multi-robot collaboration method.

[0057] The memory 402 and the processor 401 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 401 and the memory 402 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 401 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 401.

[0058] The processor 401 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 402 can be used to store data used by the processor 401 when performing operations.

[0059] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0060] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-On l yMemory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0061] An embodiment of the present invention further provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the two-dimensional cavity machining route planning method as described in any of the above embodiments.

[0062] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and that in actual applications, various changes may be made in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A two-dimensional cavity machining route planning method, characterized in that: include: Get all processing areas and avoidance areas of the 2D cavity; Extracting a machining ring of each machining area and combining them to obtain an initial machining ring, and extracting an avoidance ring of each avoidance area; wherein the machining ring is a first contour line of the machining area, and the avoidance ring is a second contour line of the avoidance area; Expand each of the avoidance rings with a preset radius to obtain a corresponding target avoidance ring, and repeatedly perform Boolean operations on the initial processing ring and each of the target avoidance rings to obtain a difference set to obtain a target processing ring; The robot is controlled to process the two-dimensional cavity along the target processing ring.

2. The two-dimensional cavity machining route planning method according to claim 1, characterized in that: Extracting the processing rings of each processing area and combining the rings to obtain an initial processing ring, including: Sequentially extracting the first contour lines obtained by projecting each of the processing areas perpendicular to the plane where the two-dimensional cavity is located, and using each of the first contour lines as the processing ring of the processing area corresponding to the first contour line; The initial processing ring is obtained by performing a Boolean operation on all the processing rings and taking a union.

3. The two-dimensional cavity machining route planning method according to claim 1, characterized in that: Extracting the avoidance ring of each avoidance area includes: The second contour lines obtained by projecting each of the avoidance areas perpendicular to the plane where the two-dimensional cavity is located are sequentially extracted, and the avoidance ring of each of the avoidance areas is determined based on the second contour lines.

4. The two-dimensional cavity machining route planning method according to claim 3, characterized in that: The step of determining the avoidance ring of each avoidance area based on the second contour line includes: determining in sequence whether the area of ​​each closed figure enclosed by the second contour line is zero; If it is not zero, the second contour line is used as the avoidance ring of the corresponding avoidance area.

5. The two-dimensional cavity machining route planning method according to claim 3, characterized in that: The step of determining the avoidance ring of each avoidance area based on the second contour line includes: determining in sequence whether the area of ​​each closed figure enclosed by the second contour line is zero; If it is zero, the second contour line is offset to a plane away from the processing area to obtain an offset contour line; The second contour line and the offset contour line are connected to form an offset ring, and the offset ring is used as the avoidance ring of the avoidance area corresponding to the second contour line.

6. The two-dimensional cavity machining route planning method according to claim 1, characterized in that: The preset radius is the radius of the end effector of the robot.

7. A two-dimensional cavity machining route planning device, characterized in that: The device comprises: The acquisition module is used to obtain all processing areas and avoidance areas of the two-dimensional cavity; A ring merging module is used to extract the processing ring of each processing area, merge the rings to obtain an initial processing ring, and extract the avoidance ring of each avoidance area; wherein the processing ring is the first contour line of the processing area, and the avoidance ring is the second contour line of the avoidance area; An expansion module, used for expanding each of the avoidance rings with a preset radius to obtain a corresponding target avoidance ring, and repeatedly performing Boolean operations on the initial processing ring and each of the target avoidance rings to obtain a difference set to obtain a target processing ring; The planning module is used to control the robot to process the two-dimensional cavity along the target processing ring.

8. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the two-dimensional cavity machining route planning method as claimed in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, a two-dimensional cavity machining route planning method as claimed in any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that The computer program product is stored in a storage medium, and the computer program product is executed by at least one processor to implement the steps in the two-dimensional cavity machining route planning method according to any one of claims 1 to 6.

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