Polyhedron cutting path generation method and device, equipment and storage medium

Abstract

The invention relates to the technical field of laser processing, in particular to a polyhedron cutting path generation method, device and equipment and a storage medium, and the method comprises the following steps: acquiring reference line information on a blank to be processed, and acquiring point cloud data fed back by a line scanning module; based on the reference line information, realizing alignment between the point cloud data and the to-be-processed blank to obtain alignment data; obtaining a finished product effect drawing and finished product related parameters, and confirming tangent point cloud data of each facet based on the finished product related parameters and the alignment data; according to the cloud data of the points to be tangent of each facet and the finished product effect drawing, determining a cutting surface corresponding to the facet, and generating a cutting path corresponding to the cutting surface; the method disclosed by the invention is used for realizing laser processing of the special-shaped polyhedron, the point cloud data corresponding to the to-be-processed blank is obtained through the line scanning module, the point cloud data can provide multi-angle and high-density surface information related to the special-shaped polyhedron, and the accuracy and reliability of a subsequently generated cutting path can be improved.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a method, device, equipment and storage medium for generating a cutting path for a polyhedron. Background Art

[0002] A polyhedron is a three-dimensional shape with multiple irregular faces. In the gem processing industry, polyhedrons specifically refer to gems with complex geometric shapes formed by cutting and polishing, such as "round", "polyhedron", "emerald", "pear" or "princess". The faceting of these gems with complex shapes requires extremely high precision.

[0003] The traditional manufacturing method of manufacturing diamond rough into polyhedron (or any other faceted gemstone) includes cutting (such as cleaving, sawing and / or grinding) and polishing, and the above two steps are often performed manually. In the manual processing, facets need to be generated one by one, and each facet grinding needs to be compared with the initial plan and corrected according to the comparison result. There are many processing steps and the processing time is long. In addition, manual grinding is greatly affected by human factors, and there is a problem of unstable processing quality.

[0004] It can be seen that the existing technology still needs to be improved and enhanced. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, an object of the present invention is to provide a method for generating a cutting path for a polyhedron, wherein the generated cutting path has the advantages of high accuracy and high reliability, and can improve the machining accuracy of the special-shaped polyhedron.

[0006] The first aspect of the present invention provides a method for generating a cutting path for a polyhedron, comprising: obtaining reference line information on a workpiece to be processed, and obtaining point cloud data fed back by a line scanning module; based on the reference line information, aligning the point cloud data with the workpiece to be processed to obtain alignment data; obtaining a finished product effect drawing and finished product related parameters, and confirming the point cloud data to be cut for each facet based on the finished product related parameters and the alignment data; confirming the cutting surface corresponding to the facet according to the point cloud data to be cut for each facet and the finished product effect drawing, and generating a cutting path corresponding to the cutting surface.

[0007] Optionally, in a first implementation method of the first aspect of the present invention, the method of obtaining the reference line information on the blank to be processed also includes: obtaining a top real-time position image fed back by a camera located directly above the blank to be processed, and obtaining a side real-time position image fed back by a camera located on the side of the blank to be processed; analyzing whether the reference line on the blank to be processed is horizontal based on the top real-time position image, and if not, calculating the inclination angle and direction, and generating a horizontal adjustment plan; analyzing whether the reference line on the blank to be processed is aligned with the center axis of the blank to be processed based on the side real-time position image, and if not, calculating the offset and generating a coaxial adjustment plan; and positioning and fixing the blank to be processed based on the generated horizontal adjustment plan and coaxial adjustment plan.

[0008] Optionally, in a second implementation method of the first aspect of the present invention, the method of obtaining a real-time position image of the top fed back by a camera located directly above the workpiece to be processed also includes: controlling the probe to move to the top of a jig bar based on a preset probe moving speed and moving path, and the jig bar is used to install the workpiece to be processed; controlling the probe to move downward to contact the jig bar based on a preset probe descent speed, and when the probe feeds back a contact signal, recording the position of the probe and recording it as a Z-axis reference point; obtaining the position information and processing requirements of the laser cutting head, and confirming the actual working distance of the laser cutting head based on the Z-axis reference point, the position information and processing requirements of the laser cutting head.

[0009] Optionally, in a third implementation method of the first aspect of the present invention, the obtaining of reference line information on the blank to be processed and obtaining point cloud data fed back by a line scanning module include: obtaining reference line information on the blank to be processed, and generating a reference line point cloud based on the obtained reference line information; obtaining volume parameters of the blank to be processed, and comparing the volume parameters with a preset volume threshold; when the volume parameter is less than the preset volume threshold, obtaining point cloud data corresponding to the blank to be processed fed back by the line scanning module; when the volume parameter is greater than or equal to the preset volume threshold, obtaining multiple point cloud data blocks obtained based on a preset rotation angle fed back by the line scanning module, and splicing the multiple point cloud data blocks according to the preset rotation angle to obtain point cloud data corresponding to the blank to be processed.

[0010] Optionally, in a fourth implementation method of the first aspect of the present invention, the alignment between the point cloud data and the workpiece to be processed is achieved based on the reference line information to obtain aligned data, including: performing denoising, filtering and sampling processing on the point cloud data in turn to obtain preprocessed point cloud data; using the k-means algorithm and kd-tree search to confirm the overlapping area between the reference line point cloud and the preprocessed point cloud data, and taking the centroid of the overlapping area as the initial point; finding the point closest to the initial point from the preprocessed point cloud data to form a preliminary point pair, and calculating the transformation matrix corresponding to the preliminary point pair; based on a preset number of iterations and a preset convergence threshold, applying the transformation matrix to iteratively align the preprocessed point cloud data to obtain aligned data.

[0011] Optionally, in a fifth implementation manner of the first aspect of the present invention, the obtaining of finished product effect drawings and finished product related parameters, and confirming the point cloud data to be cut for each facet based on the finished product related parameters and alignment data, includes: obtaining finished product effect drawings and finished product related parameters, the finished product effect drawings are finished product three-dimensional models, and the finished product related parameters include blank characteristics, waist diameter, pavilion angle, crown angle, pavilion height, waist height and crown height; confirming the point cloud data to be cut for each facet according to the finished product related parameters and alignment data, and generating section parameters according to the finished product related parameters and the point cloud data to be cut, the section parameters include pavilion section parameter data and crown section parameter data; the pavilion section parameter data include pavilion cutting order, pavilion cutting speed, pavilion angle, pavilion Z-direction layering height and the amount to be cut of each facet of the pavilion; the crown section parameter data include crown cutting order, crown cutting speed, crown angle, crown Z-direction layering height and the amount to be cut of each facet of the crown.

[0012] Optionally, in a sixth implementation of the first aspect of the present invention, the step of confirming the cutting surface corresponding to the facet according to the cut point cloud data of each facet and the finished product effect drawing, and generating a cutting path corresponding to the cutting surface, includes: confirming the cutting surface corresponding to the facet according to the cut point cloud data of each facet and the finished product effect drawing; selecting any facet from the finished product effect drawing as the initial processing facet; when the selected initial processing facet is located in the pavilion, generating a first initial path in the cutting surface corresponding to the initial processing facet along the direction from the pavilion to the crown, taking any end point of the first initial path as the initial processing point of the pavilion, connecting the other end point of the first initial path, and using a bow-shaped cutting method; The first residual path is generated in a bow-shaped manner, and the first initial path and the first residual path are integrated to obtain a cutting path corresponding to the cutting surface; when the selected initial processing facet is located at the crown, in the cutting surface corresponding to the initial processing facet, a second initial path is generated along the direction from the crown to the pavilion, and any end point of the second initial path is used as the initial processing point of the crown, and the other end point of the second initial path is connected, and a second residual path is generated in a bow-shaped manner, and the second initial path and the second residual path are integrated to obtain a cutting path corresponding to the cutting surface; after the cutting of the initial processing facet is completed based on the generated cutting path, adjacent facets are processed one by one along the preset direction.

[0013] The second aspect of the present invention provides a cutting path generation device for a polyhedron, including: an acquisition module, used to obtain reference line information on a workpiece to be processed, and to obtain point cloud data fed back by a line scanning module; an alignment module, used to achieve alignment between point cloud data and the workpiece to be processed based on the reference line information, and obtain alignment data; a confirmation module, used to obtain a finished product effect drawing and finished product related parameters, and to confirm the point cloud data to be cut for each facet based on the finished product related parameters and the alignment data; a generation module, used to confirm the cutting surface corresponding to the facet according to the point cloud data to be cut for each facet and the finished product effect drawing, and to generate a cutting path corresponding to the cutting surface.

[0014] The third aspect of the present invention provides a cutting path generation device for a polyhedron, the cutting path generation device for the polyhedron comprising: a memory and at least one processor, the memory storing instructions; at least one of the processors calls the instructions in the memory so that the cutting path generation device for the polyhedron executes each step of the cutting path generation method for the polyhedron described in any one of the above-mentioned items.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored thereon, and when the instructions are executed by a processor, the various steps of any of the above-mentioned methods for generating a cutting path for a polyhedron are implemented.

[0016] In the technical solution of the present invention, laser processing of special-shaped polyhedrons is realized. Since the shape of the special-shaped polyhedron is irregular, it is difficult to directly obtain its three-dimensional shape information using traditional methods. The point cloud data corresponding to the blank to be processed is obtained through a line scanning module. The point cloud data can provide multi-angle and high-density surface information, which can improve the accuracy and reliability of the subsequently generated cutting path, so as to improve the processing accuracy of the special-shaped polyhedron. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A first flow chart of a method for generating a cutting path for a polyhedron provided in an embodiment of the present invention;

[0018] Figure 2 A second flow chart of the method for generating a cutting path for a polyhedron provided in an embodiment of the present invention;

[0019] Figure 3 A third flow chart of the method for generating a cutting path for a polyhedron provided in an embodiment of the present invention;

[0020] Figure 4 A fourth flow chart of a method for generating a cutting path for a polyhedron provided in an embodiment of the present invention;

[0021] Figure 5 A fifth flow chart of the method for generating a cutting path for a polyhedron provided in an embodiment of the present invention;

[0022] Figure 6 A sixth flow chart of the method for generating a cutting path for a polyhedron provided in an embodiment of the present invention;

[0023] Figure 7 A seventh flow chart of a method for generating a cutting path for a polyhedron provided in an embodiment of the present invention;

[0024] Figure 8 A schematic diagram of the structure of a cutting path generating device for a polyhedron provided in an embodiment of the present invention;

[0025] Fig. 9 A schematic structural diagram of a polyhedron cutting path generation device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The present invention provides a method, device, equipment and storage medium for generating a cutting path of a polyhedron. In the present invention, the terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of a method for generating a cutting path of a polyhedron in an embodiment of the present invention includes:

[0028] 101. Obtain reference line information on the blank to be processed, and obtain point cloud data fed back by the line scanning module;

[0029] 102. Based on the reference line information, the point cloud data is aligned with the blank to be processed to obtain the alignment data;

[0030] 103. Obtain the finished product effect drawing and related parameters of the finished product, and confirm the point cloud data to be cut for each facet based on the related parameters of the finished product and the alignment data;

[0031] 104. Confirm the cutting surface corresponding to the facet according to the point cloud data to be cut of each facet and the finished product effect drawing, and generate a cutting path corresponding to the cutting surface.

[0032] The present application discloses a method for generating a cutting path for a polyhedron, which is used to realize laser processing of special-shaped polyhedrons. Due to the irregular shape of the special-shaped polyhedron, it is difficult to directly obtain its three-dimensional shape information using traditional methods. The point cloud data corresponding to the blank to be processed is obtained through a line scanning module. The point cloud data can provide multi-angle and high-density surface information, which can improve the accuracy and reliability of the subsequently generated cutting path, so as to improve the processing accuracy of the special-shaped polyhedron; further, by generating the point cloud data to be cut, and generating the cutting surface and the corresponding cutting path based on the point cloud data to be cut, the precise processing of the facets can be realized, the cutting efficiency can be reduced, and the loss in the cutting process can be reduced, thereby optimizing the cost-effectiveness.

[0033] See also Figure 2 The second embodiment of the method for generating a cutting path of a polyhedron in the embodiment of the present invention includes:

[0034] 201. Acquire a top real-time position image fed back by a camera located directly above the blank to be processed, and acquire a side real-time position image fed back by a camera located on the side of the blank to be processed;

[0035] In this embodiment, reference lines are pre-engraved on the blank to be processed, and the image captured by the camera device needs to ensure that the reference lines on the blank to be processed are clearly visible.

[0036] 202. Analyze whether the reference line on the blank to be processed is horizontal according to the real-time position image of the top. If it is not horizontal, calculate the angle and direction of inclination and generate a horizontal adjustment plan;

[0037] In this embodiment, when the reference line is not horizontal, that is, when the reference line is tilted relative to the image boundary, the angle of the tilt is calculated using trigonometric functions, and the direction of the tilt is determined using a direction identifier. Based on the measured tilt angle and direction, a horizontal adjustment instruction is generated. The horizontal adjustment instruction is used to adjust the tilt device of the machine tool or adjust the angle of the fixture to rotate the blank or translate the blank to be processed.

[0038] 203. Analyze whether the reference line on the blank to be processed is aligned with the central axis of the blank to be processed according to the real-time position image of the side. If not, calculate the offset and generate a coaxial adjustment plan.

[0039] In this embodiment, when the reference line is not aligned with the central axis of the blank to be processed, that is, when the reference line is not coaxial with the central axis of the blank to be processed, a laser measuring instrument is used to calculate the offset and the offset direction. When there are offsets in multiple directions, the total offset is calculated based on vector operations, and a coaxial adjustment instruction is generated according to the calculated offset. The coaxial adjustment instruction is used to adjust the machine tool worktable or adjust the working state of the mobile fixture to achieve the purpose of correcting the offset.

[0040] 204. According to the generated horizontal adjustment plan and coaxial adjustment plan, the workpiece to be processed is positioned and fixed.

[0041] See also Figure 3 A third embodiment of the method for generating a cutting path for a polyhedron in an embodiment of the present invention includes:

[0042] 301. Control the probe to move to the top of a fixture bar based on a preset probe moving speed and moving path, wherein the fixture bar is used to mount a blank to be processed;

[0043] In this embodiment, the probe can be moved precisely in the Z-axis direction, and its position can be accurately read by the control system.

[0044] 302. Based on a preset probe descending speed, the probe is controlled to move downward to contact the fixture rod. When the probe feeds back a contact signal, the position of the probe is recorded and recorded as a Z-axis reference point.

[0045] In this embodiment, the probe descends relatively slowly to ensure that the position it contacts is the highest point on the surface of the fixture rod.

[0046] 303. Obtain the position information and processing requirements of the laser cutting head, and confirm the actual working distance of the laser cutting head according to the Z-axis reference point, the position information and processing requirements of the laser cutting head.

[0047] In this embodiment, the position information of the laser cutting head is the relative position of the cutting head in the machine coordinate system; the actual working distance is the distance between the cutting head and the surface of the blank, and the actual working distance = required processing depth + safety distance, wherein the required processing depth is the depth that the laser beam needs to penetrate the material, and the safety distance is an additional distance set to ensure that the laser beam does not directly contact the cutting head or other parts of the machine. The required processing depth and safety distance are confirmed by the processing requirements.

[0048] In this embodiment, a laser machine tool is used to achieve polyhedron cutting. The laser machine tool includes a jig rod, and the blank to be processed is clamped on the jig rod; before processing the blank to be processed, the jig rod is first placed on the fixture of the machine tool spindle, and the probe is controlled to first detect the highest point of the jig rod, and after obtaining the z-axis data, the jig rod is removed; when multiple blanks to be processed are subsequently processed multiple times, there is no need to repeatedly use the probe to detect the z-axis data, that is, there is no need to repeat steps 301 to 303, because there is a positioning block on the jig rod, and each time it is installed, the installation height can be ensured to be consistent, that is, the Z-axis data can be ensured to remain unchanged; the actual working distance of the laser cutting head is adjusted according to the Z-axis data of the jig rod to ensure that the cutting head has the cutting ability, that is, to ensure the normal progress of the cutting task.

[0049] For the blank to be processed, in the processing process of one embodiment, it can be fixed on the jig rod in accordance with the principle of the pavilion facing upward and the crown facing downward, that is, the pre-processed horizontal surface on the crown is used as the bonding surface; since the bonding position is located at the crown, any part of the pavilion or the waist can be processed first, and then the crown can be further processed to ensure that during the cutting process, the blank to be processed is effectively fixed on the jig rod to avoid displacement of the blank to be processed and affect the cutting effect of the blank to be processed; specifically, the blank to be processed is first pre-bonded to the jig rod, and the pre-bonded blank is basically perpendicular to the horizontal ground; then the real-time position image of the blank to be processed is obtained, and the blank is adjusted to a horizontal and coaxial state according to the real-time position image, and then glue is used to reinforce the bonding position between the blank to be processed and the jig rod, that is, the preset position requirement is perpendicular and coaxial to the horizontal ground.

[0050] See also Figure 4 , a fourth embodiment of the method for generating a cutting path for a polyhedron in an embodiment of the present invention includes:

[0051] 401. Acquire reference line information on the blank to be processed, and generate a reference line point cloud based on the acquired reference line information;

[0052] In this embodiment, the reference line information is confirmed based on the real-time position image of the top fed back by the camera device, and the reference line information includes the starting point, focus and direction of the reference line. The distribution density of the point cloud is determined based on the reference line information, and point clouds are generated at equal distances on both sides of the reference line. The generated point clouds are filtered and smoothed to obtain the reference line point cloud.

[0053] 402. Obtain volume parameters of the blank to be processed, and compare the volume parameters with a preset volume threshold;

[0054] In this embodiment, the preset volume threshold can be pre-set by the designer according to the polyhedron processing requirements and the design parameters of the laser machine tool.

[0055] 403. When the volume parameter is less than a preset volume threshold, obtaining point cloud data corresponding to the blank to be processed fed back by the line scanning module;

[0056] 404. When the volume parameter is greater than or equal to a preset volume threshold, multiple point cloud data blocks obtained based on a preset rotation angle and fed back by the line scan module are obtained, and the multiple point cloud data blocks are spliced ​​according to the preset rotation angle to obtain point cloud data corresponding to the blank to be processed.

[0057] In this embodiment, when the volume parameter is less than a preset volume threshold, the position of the line scanning module can directly obtain complete point cloud data corresponding to the blank to be processed, so no additional processing steps are required; when the volume parameter is greater than or equal to the preset volume threshold, the mounting table for fixing the fixture rod is rotated according to a preset rotation angle to adjust the relative surface between the blank to be processed and the line scanning module, thereby collecting multiple point cloud data blocks based on specific rotation angles, ensuring the comprehensiveness of the point cloud data and multi-angle coverage.

[0058] In this embodiment, in the process of realizing the splicing of multiple point cloud data blocks, each point cloud data block is firstly accurately transformed in coordinates according to a preset rotation angle to convert the multiple point cloud data blocks into a pre-constructed coordinate system, thereby ensuring that the relative positions of the multiple point cloud data blocks in space are accurate; and then based on the algorithm of rotation matrix and translation transformation, the preset angle sequential rotation of the point cloud data blocks is realized. Specifically, the corresponding rotation matrix is ​​applied to each point cloud data block to realize the preset rotation angle, and then the rotated point cloud data block is moved to the appropriate position using translation transformation to complete the splicing of multiple point cloud data blocks.

[0059] See also Figure 5 The fifth embodiment of the method for generating a cutting path of a polyhedron in the embodiment of the present invention includes:

[0060] 501. Perform denoising, filtering and sampling processing on the point cloud data in sequence to obtain pre-processed point cloud data;

[0061] In this embodiment, when processing point cloud data, denoising is first required to identify and remove abnormal and outlier points to ensure the quality and accuracy of the point cloud data; then, the denoised point cloud data is filtered using a Gaussian filter to smooth the point cloud data while retaining the main features of the point cloud data to further improve the quality of the denoised point cloud data; finally, a random sampling method is used to sample the filtered point cloud data to effectively reduce the number of data points while ensuring data representativeness, making the sampled point cloud data more suitable for storage and calculation.

[0062] 502. Use k-means algorithm and kd-tree search to confirm the overlapping area between the reference line point cloud and the pre-processed point cloud data, and use the centroid of the overlapping area as the initial point;

[0063] In this embodiment, by using the k-means algorithm and kd-tree search, the overlapping area between the reference line point cloud and the preprocessed point cloud data can be efficiently identified, which has the advantages of high matching accuracy and low calculation amount; specifically, the k-means algorithm can effectively divide the preprocessed point cloud data set into multiple clusters, and the kd-tree search can quickly locate the overlapping area, thereby achieving accurate matching.

[0064] 503. Find the point closest to the initial point from the pre-processed point cloud data to form a preliminary point pair, and calculate the transformation matrix corresponding to the preliminary point pair;

[0065] In this embodiment, the centroid of the overlapping area is used as the initial point, and the corresponding preliminary point pair and transformation matrix are generated, which helps to reduce the error accumulation in the alignment process and improve the accuracy of the final alignment result.

[0066] 504. Based on a preset number of iterations and a preset convergence threshold, apply the transformation matrix to iteratively align the pre-processed point cloud data to obtain aligned data;

[0067] In this embodiment, during the iterative alignment process, the maximum number of iterations and the convergence threshold are pre-set; the maximum number of iterations is to prevent the algorithm from falling into an infinite loop, and the convergence threshold is used to determine whether the alignment process has achieved the expected accuracy; in each iteration, the transformation matrix will be applied to the current point cloud data, and through calculation and comparison, it is evaluated whether the alignment accuracy meets the threshold requirement; if the alignment accuracy does not reach the convergence threshold, the next round of iterations will continue until the convergence conditions are met, and the convergence conditions include reaching the maximum number of iterations or meeting the convergence threshold; each round of iteration may fine-tune the transformation matrix to ensure that the final alignment data is both accurate and stable.

[0068] See also Figure 6 The sixth embodiment of the method for generating a cutting path for a polyhedron in the embodiment of the present invention includes:

[0069] 601. Obtaining a finished product effect drawing and finished product related parameters, wherein the finished product effect drawing is a finished product three-dimensional model, and the finished product related parameters include blank characteristics, girdle diameter, pavilion angle, crown angle, pavilion height, girdle height, and crown height;

[0070] In this embodiment, the finished product related parameters also include the C-axis rotation speed, which determines the speed of the diamond rotation during the laser cutting process; a higher rotation speed can improve production efficiency, but may also lead to a decrease in cutting quality because the laser beam spends less time on the material; conversely, a lower rotation speed can ensure better cutting quality but will reduce production efficiency.

[0071] 602. Confirm the point cloud data to be cut of each facet according to the relevant parameters of the finished product and the alignment data, and generate the facet parameters according to the relevant parameters of the finished product and the point cloud data to be cut, wherein the facet parameters include the pavilion facet parameter data and the crown facet parameter data; the pavilion facet parameter data include the pavilion cutting sequence, the pavilion cutting speed, the pavilion angle, the pavilion Z-direction layer height, and the amount to be cut of each facet of the pavilion; the crown facet parameter data include the crown cutting sequence, the crown cutting speed, the crown angle, the crown Z-direction layer height, and the amount to be cut of each facet of the crown;

[0072] In this embodiment, the cutting operation speed refers to the moving speed of the laser beam during the cutting process. A faster cutting speed can improve production efficiency, but may also lead to a decrease in cutting quality, because the heating and cooling process of the laser beam on the material may not be sufficient. A slower cutting speed can ensure better cutting quality, but will reduce production efficiency. The pavilion cutting speed is generated according to the material of the blank, the power of the laser and the surface quality requirements of the finished product. The pavilion angle corresponds to the pavilion angle in the parameters related to the finished product. The Z-direction layer height of the pavilion is related to the pavilion height and the cutting accuracy requirements. The Z-direction layer height refers to the distance that the laser beam moves each time along the Z-axis direction during the cutting process. A smaller layer height can improve cutting accuracy, but will increase the total cutting time. Although a larger layer height can reduce the cutting time, it may reduce the cutting quality. Furthermore, the amount to be cut of each facet of the pavilion is determined according to the shape and size of the blank to be processed, that is, according to the point cloud data to be cut of each facet, and the shape, size and weight of the finished product in the parameters related to the finished product.

[0073] In this embodiment, the crown cutting speed is generated according to the material of the blank, the power of the laser and the surface quality requirements of the finished product; the crown angle corresponds to the crown angle in the finished product related parameters; the crown Z-axis layering height is related to the crown height and the cutting accuracy requirements; further, the amount of cutting of each facet of the crown is determined according to the shape and size of the blank to be processed, that is, according to the point cloud data of each facet to be cut, as well as the shape, size and weight of the finished product in the finished product related parameters.

[0074] Furthermore, when the rough material to be processed is a diamond rough material, the finished product related parameters also include waist diameter and waist height. After the pavilion processing of the rough material to be processed is completed, the waist of the rough material to be processed is processed based on the waist diameter and waist height.

[0075] See also Figure 7 The seventh embodiment of the method for generating a cutting path for a polyhedron in the embodiment of the present invention includes:

[0076] 701. Confirm the cutting surface corresponding to the facet according to the cut point cloud data of each facet and the finished product effect drawing;

[0077] In this embodiment, the finished product effect drawing depicts the appearance and size of the final product, including the specific shape and position of each facet. According to the specific shape and position of each facet, the initial cutting surface can be confirmed, and then the cutting boundary of the initial cutting surface is adjusted according to the point cloud data to be cut to obtain the cutting surface corresponding to the facet. By limiting the cutting boundary of the cutting surface by the point cloud data to be cut, the cutting loss can be reduced and the production cost can be optimized.

[0078] 702. Select any facet from the finished product effect drawing as the initial processing facet;

[0079] 703. When the selected initial processing facet is located at the pavilion, in the cutting surface corresponding to the initial processing facet, a first initial path is generated along the direction from the pavilion to the crown, any end point of the first initial path is used as the initial processing point of the pavilion, the other end point of the first initial path is connected, a first residual path is generated in an arc-shaped manner, and the first initial path and the first residual path are integrated to obtain a cutting path corresponding to the cutting surface;

[0080] 704. When the selected initial processing facet is located at the crown, in the cutting surface corresponding to the initial processing facet, a second initial path is generated along the direction from the crown to the pavilion, any end point of the second initial path is used as the initial processing point of the crown, the other end point of the second initial path is connected, a second residual path is generated in an arc-shaped manner, and the second initial path and the second residual path are integrated to obtain a cutting path corresponding to the cutting surface;

[0081] In this embodiment, after the cutting of the initial processing facet of the pavilion or the cutting of the initial processing facet of the crown is completed, the cutting path of the next facet is generated. The next facet is a facet adjacent to the initial processing facet, and the generation method of its cutting path is consistent with the generation method of the cutting path of the initial processing facet.

[0082] In this embodiment, processing software can be used to draw a first initial path and a second initial path, wherein the first initial path and the second initial path are straight lines, and then a first residual path and a second residual path are generated along the bow-shaped path, and the integrated cutting path is in the shape of a bow as a whole; finally, the cutting path is further optimized through an optimization tool to reduce empty strokes, avoid sharp turns or repeated processing, and achieve the purpose of reducing processing time and improving processing efficiency.

[0083] 705. After the cutting of the initial processed facets is completed based on the generated cutting path, adjacent facets are processed one by one along a preset direction.

[0084] In this embodiment, the preset direction can be in a clockwise direction or in a counterclockwise direction; the generated cutting path starts cutting from the side of the facet, which can further avoid laser interference problems between the processed surface and the surface to be processed, thereby improving the surface quality of the finished product.

[0085] In this embodiment, starting from the initial processing facet, adjacent facets are processed successively along a preset direction. This processing method can effectively avoid the problem of laser interference between the processed surface and the surface to be processed, and can ensure that the laser beam acts on the surface to be processed in a stable and predictable manner, thereby improving the processing accuracy, and can reduce errors such as spot drift and shape distortion, so that the processing results are closer to the expected value.

[0086] The above describes the method for generating a cutting path for a polyhedron in an embodiment of the present invention. The following describes the device for generating a cutting path for a polyhedron in an embodiment of the present invention. Figure 8 , an embodiment of a cutting path generation device for a polyhedron in an embodiment of the present invention includes:

[0087] The acquisition module 801 is used to acquire the reference line information on the blank to be processed and acquire the point cloud data fed back by the line scanning module;

[0088] An alignment module 802 is used to align the point cloud data with the blank to be processed based on the reference line information to obtain alignment data;

[0089] The confirmation module 803 is used to obtain the finished product effect drawing and the relevant parameters of the finished product, and confirm the point cloud data to be cut for each facet based on the relevant parameters of the finished product and the alignment data;

[0090] The generation module 804 is used to confirm the cutting surface corresponding to the facet according to the cutting point cloud data of each facet and the finished product effect drawing, and generate a cutting path corresponding to the cutting surface.

[0091] Based on the same idea as the method in the above embodiment, the device provided by the present application can implement the method in the above embodiment.

[0092] above Figure 8 The cutting path generating device for a polyhedron in an embodiment of the present invention is described in detail from the perspective of modular functional entities. The cutting path generating device for a polyhedron in an embodiment of the present invention is described in detail from the perspective of hardware processing.

[0093] Fig. 91 is a schematic diagram of the structure of a polyhedron cutting path generation device provided by an embodiment of the present invention. The polyhedron cutting path generation device 900 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 910 (for example, one or more processors) and a memory 920, and one or more storage media 930 (for example, one or more mass storage devices) storing application programs 933 or data 932. Among them, the memory 920 and the storage medium 930 can be short-term storage or permanent storage. The program stored in the storage medium 930 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the polyhedron cutting path generation device 900. Furthermore, the processor 910 can be configured to communicate with the storage medium 930, and execute a series of instruction operations in the storage medium 930 on the polyhedron cutting path generation device 900 to implement the steps of the polyhedron cutting path generation method provided by the above-mentioned method embodiments.

[0094] The polyhedron cutting path generating device 900 may further include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input and output interfaces 960, and / or one or more operating systems 931, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Fig. 9 The structure of the polyhedron cutting path generating device shown does not constitute a limitation on the polyhedron cutting path generating device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0095] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the method for generating a cutting path for a polyhedron.

[0096] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0097] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0098] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for generating a cutting path of a polyhedron, characterized in that: include: Obtain the reference line information on the blank to be processed, and obtain the point cloud data fed back by the line scanning module; Based on the reference line information, the point cloud data is aligned with the blank to be processed to obtain the alignment data; Obtain finished product effect drawings and related parameters of the finished product, and confirm the point cloud data to be cut for each facet based on the related parameters of the finished product and alignment data; According to the point cloud data of each facet to be cut and the finished product effect drawing, the cutting surface corresponding to the facet is confirmed, and the cutting path corresponding to the cutting surface is generated.

2. The method for generating a cutting path for a polyhedron according to claim 1, characterized in that: The obtaining of the reference line information on the blank to be processed also includes: Acquire a top real-time position image fed back by a camera located directly above the blank to be processed, and acquire a side real-time position image fed back by a camera located on the side of the blank to be processed; According to the real-time position image of the top, analyze whether the reference line on the blank to be processed is horizontal. If it is not horizontal, calculate the tilt angle and direction, and generate a horizontal adjustment plan; According to the real-time position image of the side, analyze whether the reference line on the blank to be processed is aligned with the central axis of the blank to be processed. If not, calculate the offset and generate a coaxial adjustment plan; The workpiece to be processed is positioned and fixed according to the generated horizontal adjustment plan and coaxial adjustment plan.

3. The method for generating a cutting path for a polyhedron according to claim 2, characterized in that: The step of obtaining a top real-time position image fed back by a camera device located directly above the blank to be processed also includes: Based on a preset probe moving speed and moving path, the probe is controlled to move to the top of a fixture bar, where the fixture bar is used to mount a blank to be processed; Based on the preset probe descending speed, the probe is controlled to move downward to contact the fixture rod. When the probe feeds back a contact signal, the position of the probe is recorded and recorded as the Z-axis reference point. Obtain the position information and processing requirements of the laser cutting head, and confirm the actual working distance of the laser cutting head based on the Z-axis reference point, the position information and processing requirements of the laser cutting head.

4. The method for generating a cutting path for a polyhedron according to claim 1, characterized in that: The step of obtaining the reference line information on the blank to be processed and obtaining the point cloud data fed back by the line scanning module includes: Acquire reference line information on the blank to be processed, and generate a reference line point cloud based on the acquired reference line information; Obtaining volume parameters of the blank to be processed, and comparing the volume parameters with a preset volume threshold; When the volume parameter is less than the preset volume threshold, the point cloud data corresponding to the blank to be processed fed back by the line scanning module is obtained; When the volume parameter is greater than or equal to a preset volume threshold, multiple point cloud data blocks obtained based on a preset rotation angle and fed back by the line scan module are obtained, and the multiple point cloud data blocks are spliced ​​according to the preset rotation angle to obtain point cloud data corresponding to the blank to be processed.

5. The method for generating a cutting path for a polyhedron according to claim 4, characterized in that: The step of realizing alignment between the point cloud data and the blank to be processed based on the reference line information to obtain the alignment data includes: The point cloud data is subjected to denoising, filtering and sampling processing in sequence to obtain pre-processed point cloud data; Use the k-means algorithm and kd-tree search to confirm the overlapping area between the reference line point cloud and the pre-processed point cloud data, and use the centroid of the overlapping area as the initial point; Find the point closest to the initial point from the preprocessed point cloud data to form a preliminary point pair, and calculate the transformation matrix corresponding to the preliminary point pair; Based on a preset number of iterations and a preset convergence threshold, the transformation matrix is ​​applied to perform iterative alignment processing on the pre-processed point cloud data to obtain aligned data.

6. The method for generating a cutting path for a polyhedron according to claim 1, characterized in that: The step of obtaining the finished product effect drawing and the related parameters of the finished product, and confirming the cut point cloud data of each facet based on the related parameters of the finished product and the alignment data, includes: Obtaining finished product effect drawings and finished product related parameters, wherein the finished product effect drawings are finished product three-dimensional models, and the finished product related parameters include blank characteristics, waist diameter, pavilion angle, crown angle, pavilion height, waist height and crown height; The point cloud data to be cut of each facet is confirmed according to the relevant parameters of the finished product and the alignment data, and the section parameters are generated according to the relevant parameters of the finished product and the point cloud data to be cut, the section parameters include pavilion section parameter data and crown section parameter data; the pavilion section parameter data include pavilion cutting sequence, pavilion cutting speed, pavilion angle, pavilion Z-direction layer height and the amount to be cut of each facet of the pavilion; the crown section parameter data include crown cutting sequence, crown cutting speed, crown angle, crown Z-direction layer height and the amount to be cut of each facet of the crown.

7. The method for generating a cutting path for a polyhedron according to claim 6, characterized in that: The method of confirming the cutting surface corresponding to the facet according to the cut point cloud data of each facet and the finished product effect drawing, and generating the cutting path corresponding to the cutting surface, includes: Confirm the cutting surface corresponding to the facet according to the point cloud data of each facet and the finished product effect drawing; From the finished product drawing, select any facet as the initial processing facet; When the selected initial processing facet is located at the pavilion, in the cutting surface corresponding to the initial processing facet, a first initial path is generated along the direction from the pavilion to the crown, any end point of the first initial path is used as the initial processing point of the pavilion, the other end point of the first initial path is connected, a first residual path is generated in an arc-shaped manner, and the first initial path and the first residual path are integrated to obtain a cutting path corresponding to the cutting surface; When the selected initial processing facet is located at the crown, in the cutting surface corresponding to the initial processing facet, a second initial path is generated along the direction from the crown to the pavilion, any end point of the second initial path is used as the initial processing point of the crown, the other end point of the second initial path is connected, a second residual path is generated in an arc-shaped manner, and the second initial path and the second residual path are integrated to obtain a cutting path corresponding to the cutting surface; After the cutting of the initial processed facets is completed based on the generated cutting path, adjacent facets are processed one by one along a preset direction.

8. A cutting path generating device for a polyhedron, characterized in that: include: An acquisition module is used to obtain the reference line information on the blank to be processed and obtain the point cloud data fed back by the line scanning module; An alignment module is used to align the point cloud data with the blank to be processed based on the reference line information to obtain alignment data; The confirmation module is used to obtain the finished product effect drawings and related parameters of the finished product, and confirm the point cloud data to be cut for each facet based on the related parameters of the finished product and the alignment data; The generation module is used to confirm the cutting surface corresponding to the facet according to the point cloud data to be cut of each facet and the finished product effect drawing, and generate a cutting path corresponding to the cutting surface.

9. A cutting path generation device for a polyhedron, characterized in that: The cutting path generating device for a polyhedron comprises: a memory and at least one processor, wherein instructions are stored in the memory; At least one of the processors calls the instructions in the memory to enable the polyhedron cutting path generation device to perform each step of the polyhedron cutting path generation method according to any one of claims 1 to 7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the various steps of the method for generating a cutting path for a polyhedron as claimed in any one of claims 1 to 7 are implemented.

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