Cutting track generation method, cutting track generation system and visual cutting equipment

Abstract

The invention provides a cutting track generation method, a cutting track generation system and visual cutting equipment. The second coordinate system related to the parent part and the third coordinate system related to the child part are converted into the first coordinate system, the first cutting track related to the parent part and the second cutting track related to the child part are generated through the first coordinate system, and the initial error of the first cutting track and the initial error of the second cutting track are reduced; smooth processing is carried out after the first cutting track is generated, sealing tile cutting can be carried out firstly with the first cutting track as the reference, then sub-parts are positioned, the second cutting track is generated, repeated positioning is prevented, the first cutting track is made to be continuously aligned to the first cutting track, the error distance between the first cutting track and the second cutting track is reduced, and the cutting efficiency is improved. And the consistency of the first cutting track and the second cutting track can be improved, and cutting errors are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of cutting equipment, and in particular to a cutting trajectory generation method, a cutting trajectory generation system and a visual cutting device, which are used for cutting heads and sealing tiles of aluminum alloy plate-fin heat exchangers. Background Art

[0002] Laser cutting technology is widely used in the processing of metal and non-metal materials, which can reduce processing time, reduce processing costs and improve workpiece quality. At present, laser cutting technology is constantly expanding its application areas: using 3D laser cutting systems or configuring industrial robots, generating cutting space curves, and developing various 3D cutting software to speed up the process from drawing to cutting parts.

[0003] In the process of cutting the head and sealing tile of the aluminum alloy plate-fin heat exchanger, Figure 1 and Figure 3 As shown, it is necessary to cut a plurality of sealing tiles 2 from the mother piece 1 to be cut, such as Figure 2 As shown, a head 4 is formed by cutting at both ends of the sub-component 3 to be cut, and the sealing tile 2 is spliced ​​to the head 4, and then welded into one piece to complete the head of the aluminum alloy plate-fin heat exchanger. Since the cutting route of the head 4 and the sealing tile 2 changes in three-dimensional space, it brings great difficulties to the cutting process.

[0004] The current cutting method is to locate the mother part and the child part to be cut in turn, respectively image the mother part and the child part to be cut through 3D imaging technology, draw the cutting line in the form of marking, and use manual dragging of the laser cutting head or an industrial robot to identify the cutting line in 3D to achieve cutting. However, in the above scheme, due to the influence of some factors, such as the positioning error of the mother part and the child part, the drawing error of a single set of cutting lines, the superposition of errors between the cutting lines of the mother part and the child part, and the uneven cutting lines, the cutting error will increase, resulting in a larger splicing gap between the head and the tile, which will increase the difficulty of welding in the later stage and make it difficult to control the welding accuracy. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a cutting trajectory generation method, a cutting trajectory generation system and a visual cutting device, so as to overcome the problem in the prior art that the superposition of multiple errors and the uneven cutting line lead to increased cutting errors, thereby resulting in a larger splicing gap between the head and the sealing tile.

[0006] In order to solve the above technical problems, the present invention provides a cutting trajectory generation method, comprising the following steps: Step S1: establishing a first coordinate system based on a robot used for cutting; Step S2: positioning the mother piece to be cut, constructing a second coordinate system based on the mother piece to be cut, collecting the coordinates of sampling points of the mother piece to be cut, and performing three-dimensional modeling of the mother piece according to the sampling coordinate point cloud; Step S3: performing hand-eye conversion on the second coordinate system based on the first coordinate system, generating a first cutting trajectory using the first coordinate system and the three-dimensional model of the mother part, and smoothing the first cutting trajectory; Step S4: positioning the sub-component to be cut, constructing a third coordinate system based on the sub-component to be cut, collecting the coordinates of the sampling points of the sub-component to be cut, and performing three-dimensional modeling of the sub-component according to the sampling coordinate point cloud; Step S5: Performing hand-eye conversion on the third coordinate system based on the first coordinate system, generating a second cutting trajectory using the first coordinate system and the three-dimensional model of the sub-component, and calculating the error distance between the smoothed first cutting trajectory and the second cutting trajectory; Step S6: Determine whether the maximum error distance between the first cutting trajectory and the second cutting trajectory after smoothing is less than a preset threshold. If so, determine that the second cutting trajectory is the second cutting trajectory of the sub-component. If not, adjust the maximum error of the second cutting trajectory and return to step S5 until the error distance is less than the preset threshold.

[0007] The present invention uses the following method to smooth the first cutting trajectory in step S3: using the least squares method, a polynomial fitting is performed on the data set of the first cutting trajectory points to obtain smoothed data of the first cutting trajectory, thereby generating a smoothed first cutting trajectory.

[0008] The present invention uses the following method to calculate the error distance in step S5: the first cutting trajectory and the second trajectory are segmented according to preset distances to generate corresponding multiple first cutting trajectory segments and second trajectory segments, and the starting point distance and the end point distance between the corresponding second trajectory segments are calculated based on each first cutting trajectory segment, and the corresponding starting point distance and the end point distance are calculated to obtain two error distances.

[0009] In step S6, the present invention adjusts the second cutting trajectory by the following method: determine whether the two error distances are both smaller than a preset threshold value; if so, determine the second trajectory segment; if not, offset the starting point or end point of the second trajectory segment toward the first cutting trajectory segment, and recalculate the error distance until the error distances of the starting point and end point of the second trajectory segment are both smaller than the preset threshold value.

[0010] After step S6, the present invention continues to smooth the second cutting trajectory, and the step of smoothing the second cutting trajectory includes: adjusting each second trajectory segment whose error distance is greater than a preset threshold value, so that the starting point and / or end point whose error distance is greater than the preset threshold value is offset N times the error distance toward the corresponding first cutting trajectory segment, and selecting two adjacent sub-trajectory segments of the second trajectory segment to calculate the discrete distances between the two sub-trajectory segments and the starting point and end point of the second trajectory segment, so that the points of the two adjacent sub-trajectory segments adjacent to the second trajectory segment are offset N times the discrete distance toward the second trajectory segment.

[0011] A cutting trajectory generation system, which uses the above method to cut the sub-parts or mother parts to be cut, comprises: A positioning module, which is used to position the sub-component and to position the mother component after generating the first cutting trajectory; The visual module is used to collect the sampling point coordinates of the positioned sub-part or mother part and generate a point cloud model; A processing module, which is used to: perform hand-eye conversion of the second coordinate system and the third coordinate system based on the first coordinate system, perform three-dimensional modeling based on the point cloud models of the mother component and the child component, generate a first cutting trajectory for cutting the mother component based on the first coordinate system, and smooth the first cutting trajectory; generate a second cutting trajectory for cutting the child component based on the second coordinate system, and determine whether the maximum error distance between the first cutting trajectory and the second cutting trajectory after smoothing is less than a preset threshold value. If so, determine that the second cutting trajectory is the second cutting trajectory of the child component. If not, adjust the maximum error of the second cutting trajectory and continue to generate the second cutting trajectory until the error distance is less than the preset threshold value.

[0012] A visual cutting device, comprising the above-mentioned cutting trajectory generation system, and using the above-mentioned method to cut the sub-parts or mother parts to be cut, further comprising: The cutting module comprises a cutting robot for cutting the sealing head or the sealing tile. The output end of the cutting robot is provided with the cutting module. The cutting robot, the cutting module and the vision module are all connected to the processing module.

[0013] The output end of the cutting robot of the present invention is provided with a rotating component, and the vision module and the cutting module are respectively connected to the rotating component.

[0014] The positioning module described in the present invention includes: a frame, a first limit member and a second limit member respectively arranged on the frame, and a first drive component, the second limit member is connected to the output end of the first drive component, the frame is used to place the mother part or sub-part to be cut, and the first drive component is used to drive the second limit member to adjust the distance between it and the first limit member.

[0015] The frame of the present invention is provided with a second driving component, the positioning module is connected to the output end of the second driving component, a ground rail is provided on one side of the positioning module, the cutting robot is connected to the output end of the ground rail, the ground rail is arranged along the length direction of the positioning module, and the center line of the second driving component is perpendicular to the center line of the ground rail.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art: The present invention converts the second coordinate system about the mother component and the third coordinate system about the child component into the first coordinate system respectively, generates the first cutting trajectory about the mother component and the second cutting trajectory about the child component respectively through the first coordinate system, reduces the initial error of the first cutting trajectory and the second cutting trajectory, positions the mother component first and performs smoothing after generating the first cutting trajectory, can first perform tile cutting based on the first cutting trajectory, then position the child component, and generate the second cutting trajectory, prevent repeated positioning, and reduce the error distance between the first cutting trajectory and the second cutting trajectory by continuously aligning the first cutting trajectory with the first cutting trajectory, and can improve the consistency of the first cutting trajectory and the second cutting trajectory, reducing the cutting error. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the cutting of the existing mother parts and sealing tiles; Figure 2 It is a structural schematic diagram of existing sub-components and heads; Figure 3 It is a schematic diagram of the structure of the existing sealing tiles; Figure 4 is a schematic structural diagram of a cutting device according to an embodiment of the present invention; Figure 5 is a schematic structural diagram of a positioning module according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of a positioning module according to an embodiment of the present invention; Figure 7 yes Figure 4 Enlarged view of point A in the middle.

[0018] Description of the reference numerals in the specification: 1. mother component; 2. sealing tile; 3. sub-component; 4. sealing head; 5. ground rail; 6. Positioning module; 61. First stopper; 62. Second stopper; 63. Slide rail; 64. Support body; 65. Second drive assembly; 66. First drive assembly; 67. Frame; 7. Positioning module; 71. Chuck; 72. Pipe fitting; 73. Roller; 74. Lifting bracket; 8. Limiting frame; 9. Cutting robot; 10. Rotating assembly; 11. Vision module; 12. Cutting module. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0020] Embodiment 1.

[0021] Reference Figure 4-Figure 7 As shown, a cutting trajectory generation method of the present invention is used for cutting the head and the sealing tile of the aluminum alloy plate-fin heat exchanger, comprising the following steps: Step S1: establishing a first coordinate system based on a robot used for cutting.

[0022] Step S2: Positioning the mother component 1 to be cut, constructing a second coordinate system based on the mother component 1 to be cut, collecting the coordinates of sampling points of the mother component 1 to be cut, and performing three-dimensional modeling of the mother component 1 according to the sampling coordinate point cloud.

[0023] Step S3: Based on the first coordinate system, the second coordinate system is converted by a hand-eye calibration algorithm, a first cutting trajectory is generated by using the first coordinate system and the three-dimensional model of the mother component 1, and the first cutting trajectory is smoothed.

[0024] The hand-eye calibration algorithm can be calculated based on the known robot motion posture and the coordinate data collected by the visual sensor. For example, the Tsai-Lenz hand-eye calibration algorithm is used to calculate the coordinate system transformation matrix based on the coordinates of the same point on the mother part 1 collected by the visual sensor of the robot in different postures.

[0025] In step S3, the first cutting trajectory is smoothed using the following method: using the least squares method, a polynomial is fitted to the data set of the first cutting trajectory points to obtain smoothed data of the first cutting trajectory, and a smoothed first cutting trajectory is generated. When the first cutting trajectory is smoothed, the polynomial order is first determined according to the above detailed description, and then a coefficient matrix and vector are constructed. The data set of the first cutting trajectory points is used to integrate the coordinate information of each data point into the construction of the matrix and vector. Then, the polynomial coefficients are solved by the least squares method, and the obtained coefficients can determine the shape of the fitting polynomial through matrix operations. The smoothed first cutting trajectory is generated based on the obtained polynomial coefficients.

[0026] Step S4: Position the sub-component 3 to be cut, construct a third coordinate system based on the sub-component 3 to be cut, collect the coordinates of the sampling points of the sub-component 3 to be cut, and perform three-dimensional modeling of the sub-component 3 according to the sampling coordinate point cloud.

[0027] Step S5: Based on the first coordinate system, the third coordinate system is converted by the hand-eye calibration algorithm, the second cutting trajectory is generated by using the first coordinate system and the three-dimensional model of the sub-component, and the error distance between the smoothed first cutting trajectory and the second cutting trajectory is calculated.

[0028] In step S5, the error distance is calculated using the following method: by segmenting the first cutting trajectory and the second trajectory according to the preset distance, a plurality of corresponding first cutting trajectory segments and second trajectory segments are generated, and the starting point distance or the end point distance between the corresponding second trajectory segments is calculated based on each first cutting trajectory segment, and the corresponding starting point distance or the end point distance is calculated to obtain two error distances. Whether it is a straight line, a curve or a complex combined shape cutting trajectory, this method can effectively calculate the error distance because it is based on the segmentation of the trajectory for calculation, rather than relying on the specific shape or function expression of the trajectory, and therefore has good versatility.

[0029] Step S6: Determine whether the maximum error distance between the first cutting trajectory and the second cutting trajectory after smoothing is less than a preset threshold. If so, determine that the second cutting trajectory is the second cutting trajectory of sub-component 3. If not, adjust the maximum error of the second cutting trajectory and return to step S5 until the error distance is less than the preset threshold.

[0030] The preset threshold is a value pre-set according to the cutting accuracy requirements. If the maximum error distance is less than the preset threshold, it means that the second cutting trajectory meets the requirements and can be used for cutting sub-component 3. If it does not meet the requirements, adjust the maximum error of the second cutting trajectory. The trajectory can be adjusted by partially modifying the coordinates of the trajectory points, and then recalculating the error distance until the requirements are met.

[0031] In step S6, the second cutting trajectory is adjusted by the following method: determine whether both error distances are less than the preset threshold value, if so, determine the second trajectory segment, if not, offset the starting point or end point of the second trajectory segment to the first cutting trajectory segment, and recalculate the error distance until the error distances of the starting point and end point of the second trajectory segment are both less than the preset threshold value. The specific steps are as follows: First, compare and judge the two groups of error distances of the starting point distance group and the end point distance group calculated previously with the preset threshold value. If all error distances are less than the preset threshold value, determine that the current second trajectory segment is the final second cutting trajectory, which can be used to cut the sub-component 3. If there is an error distance that does not meet the requirements, the starting point or end point of the second trajectory segment is offset and adjusted according to whether the starting point distance or the end point distance does not meet the requirements. After adjustment, recalculate the two groups of error distances of the starting point distance and the end point distance, and compare and judge again with the preset threshold value, and repeat the cycle until all values ​​in the two groups of error distances are less than the preset threshold value, and the second trajectory segment determined at this time is the sub-component second cutting trajectory that meets the requirements.

[0032] In step S2 or step S4: import the point cloud of the generated mother component 1 or subcomponent 3 into the 3D modeling software, perform 3D modeling and extract the outer contour information. In step S3 or step S5: import the 3D model of the mother component 1 or subcomponent 3 into the YuyiRobotCAM software platform, input the following parameters of the sealing tile 2 or head 4 to be cut: diameter, thickness, cutting arc diameter, intersection line position, inclination, so as to generate the first cutting trajectory or the second cutting trajectory.

[0033] After step S6, the second cutting trajectory is continued to be smoothed, and the step of smoothing the second cutting trajectory includes: adjusting each second trajectory segment with an error distance greater than a preset threshold value, so that the starting point and / or end point of the error distance greater than the preset threshold value is offset to the corresponding first cutting trajectory segment by 0.2-0.5 times the error distance, and selecting two adjacent sub-trajectory segments of the second trajectory segment to calculate the discrete distances between the two sub-trajectory segments and the starting point and end point of the second trajectory segment, so that the points of the two adjacent sub-trajectory segments adjacent to the second trajectory segment are offset to the second trajectory segment by 0.2-0.5 times the discrete distance. By adjusting the second trajectory segment with an error distance greater than the preset threshold value and its adjacent sub-trajectory segments, the local mutations and discontinuous points in the trajectory can be effectively reduced, making the entire second cutting trajectory smoother, making the robot move more stably during the cutting process, reducing the cutting jitter caused by the uneven trajectory, and thus improving the cutting accuracy and quality.

[0034] When cutting a smaller pipe fitting, one end of the pipe fitting 72 is clamped by the chuck 71, and the other end of the pipe fitting 72 is supported by the roller 73. The roller 73 can be adjusted up and down by the lifting bracket 74, and a limiting frame 8 is set at the other end of the pipe fitting. When the positioning module 7 is used, a limiting frame 8 is also set at the end of the mother component 1 or the child component 3.

[0035] Embodiment 2.

[0036] Reference Figure 4-Figure 7 As shown, a cutting trajectory generation system is used for cutting the head and sealing tile of an aluminum alloy plate-fin heat exchanger, and the method of Example 1 is used to cut the sub-component 3 or the mother component 1 to be cut, which includes: A positioning module 7, which is used to position the sub-component 3 and to position the mother component 1 after generating the first cutting trajectory; The vision module 11 is a 3D vision-guided camera, which is used to collect the sampling point coordinates of the positioned sub-component 3 or the mother component 1 and generate a point cloud model; A processing module, which is used to: convert the second coordinate system and the third coordinate system according to the hand-eye calibration algorithm based on the first coordinate system, perform three-dimensional modeling according to the point cloud models of the mother component 1 and the child component 3, generate a first cutting trajectory for cutting the mother component 1 based on the first coordinate system, and smooth the first cutting trajectory; generate a second cutting trajectory for cutting the child component 3 based on the second coordinate system, and determine whether the maximum error distance between the first cutting trajectory and the second cutting trajectory after smoothing is less than a preset threshold value. If so, determine that the second cutting trajectory is the second cutting trajectory of the child component 3. If not, adjust the maximum error of the second cutting trajectory and continue to generate the second cutting trajectory until the error distance is less than the preset threshold value.

[0037] In the present embodiment, a cutting trajectory generation system is provided. The positioning order of the positioning module 6 is first the sub-component 3 and then the mother component 1, and the first cutting trajectory is used in the processing module, which reduces repeated positioning and unnecessary calculation processes and improves the efficiency of the cutting operation. At the same time, by effectively controlling the cutting trajectory error, the number of adjustments during the cutting process is reduced, and the cutting efficiency is further improved. The processing module's smooth processing of the cutting trajectory and precise error control make the cutting process more stable, and the cutting tool can move along an accurate trajectory. This helps to reduce the roughness of the cutting surface, improve the quality of the cutting, and ensure that the sub-component 3 and the mother component 1 after cutting can meet the requirements of assembly or subsequent processing.

[0038] The cutting parameter setting includes the following steps: 1. Cutting parameter settings.

[0039] Distance between the cutting head and the surface: the distance between the end of the cutting head and the tool surface, generally 5-10mm. Incline angle of the cutting: the inclination angle of the cutting, 30 degrees to 45 degrees.

[0040] 2. Speed ​​setting.

[0041] Robot joint speed: the movement speed setting of the robot in non-cutting state; Robot cutting speed: the speed at which the robot cuts the workpiece; Robot approach / leave speed: The speed at which the robot approaches and leaves the workpiece.

[0042] 3. Track setting.

[0043] Initial tool tilt angle: the angle setting of the cutting head tilt when starting cutting; End tool tilt angle: End cutting, the angle setting of the cutting head tilt; Arc starting Z axis compensation distance: Z axis distance compensation of the starting position; Track point density: The generated track point density setting.

[0044] 4. Communication settings.

[0045] Robot IP: Robot communication address settings; Visual detection IP: Visual detection communication address settings.

[0046] Embodiment three.

[0047] Reference Figure 4-Figure 7 As shown, this embodiment discloses a visual cutting device for cutting the head and the sealing tile of the aluminum alloy plate-fin heat exchanger, including the cutting trajectory generation system of the second embodiment, and using the method of the first embodiment to cut the sub-component 3 or the mother component 1 to be cut, which also includes: The cutting module includes a cutting robot 9 for cutting the sealing head 4 or the sealing tile 2. The output end of the cutting robot 9 is provided with a cutting module. The cutting robot 9, the cutting module and the vision module are all connected to the processing module.

[0048] Reference Figure 7 As shown, a rotating component 10 is provided at the output end of the cutting robot 9, and a visual module 11 and a cutting module are respectively connected to the rotating component 10, and the visual module 11 and the cutting module 12 can be switched. For the visual module 11, the rotation function can expand its field of view, so that it can collect the sampling point coordinates of the sub-component 3 or the mother component 1 to be cut from different angles, so as to obtain the shape information of the workpiece more comprehensively; for the cutting module 12, the rotation function can adjust the cutting direction during the cutting process to adapt to the cutting requirements of workpieces of different shapes. When cutting workpieces with curved surfaces or complex contours, the cutting module 12 can be rotated to maintain the best cutting angle.

[0049] The positioning module 6 includes: a frame 67, a first stopper 61 and a second stopper 62 respectively arranged on the frame 67, and a first drive assembly 66. The second stopper 62 is connected to the output end of the first drive assembly 66. The frame 67 is used to place the mother part 1 or the sub-part 3 to be cut, and the first drive assembly 66 is used to drive the second stopper 62 to adjust the distance between it and the first stopper 61. When it is necessary to position the mother part 1 or the sub-part 3 to be cut, the workpiece is first placed on the frame. According to the size of the workpiece, the processing module or the control unit calculates the distance that the second stopper needs to move, and sends a control signal to the first drive assembly 66 to push the second stopper 62 to move to the specified position. After the second stopper moves into place, the first stopper 61 and the second stopper 62 clamp the workpiece on the frame to complete the positioning operation. The position of the workpiece is determined, providing positioning for subsequent visual acquisition, cutting trajectory generation and cutting operations.

[0050] Specifically, the frame 67 includes at least two groups of support bodies 64, and the at least two groups of support bodies 64 are slidably connected with a first limit member 61 and a second limit member 62 at both ends, and the second limit member 62 is connected to the output end of the first drive component 66, so that the second limit member 62 is close to or away from the first limit member 61, thereby clamping the workpiece to be cut. The first drive component 66 is selected to be suitable for either a servo screw or a drive cylinder.

[0051] Reference Figure 4 and Figure 6 As shown, the frame 67 is provided with a second drive assembly 65, the positioning module 6 is connected to the output end of the second drive assembly 65, a ground rail 5 is provided on one side of the positioning module 6, the cutting robot 9 is connected to the output end of the ground rail 5, the ground rail 5 is arranged along the length direction of the positioning module 6, the center line of the second drive assembly 65 is perpendicular to the center line of the ground rail 5, according to the size of the workpiece to be cut and the requirements of the cutting task, the control system first controls the second drive assembly 65 to move the positioning module 6 to the initial position in the vertical direction. The cutting robot 9 moves along the ground rail 5 to the approximate position above the workpiece. The visual module starts to collect the sampling point coordinates of the workpiece, and the positioning module 6 is fine-tuned according to the actual position of the workpiece to ensure that the workpiece is in the best cutting position. The cutting trajectory generation system generates a cutting trajectory according to the collected data, and the cutting robot 9 starts the cutting operation according to the cutting trajectory. During the cutting process, if the cutting trajectory changes in the vertical direction, the second drive assembly adjusts the position of the positioning module according to the instruction of the control system; if there is a change in the horizontal direction, the cutting robot 9 moves along the ground rail 5 until the entire cutting task is completed.

[0052] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A cutting trajectory generation method, characterized in that: The steps include: Step S1: establishing a first coordinate system based on a robot for cutting; Step S2: positioning the mother piece to be cut, constructing a second coordinate system based on the mother piece to be cut, collecting the coordinates of sampling points of the mother piece to be cut, and performing three-dimensional modeling of the mother piece according to the sampling coordinate point cloud; Step S3: performing hand-eye conversion on the second coordinate system based on the first coordinate system, generating a first cutting trajectory using the first coordinate system and the three-dimensional model of the mother part, and smoothing the first cutting trajectory; Step S4: positioning the sub-component to be cut, constructing a third coordinate system based on the sub-component to be cut, collecting the coordinates of the sampling points of the sub-component to be cut, and performing three-dimensional modeling of the sub-component according to the sampling coordinate point cloud; Step S5: Performing hand-eye conversion on the third coordinate system based on the first coordinate system, generating a second cutting trajectory using the first coordinate system and the three-dimensional model of the sub-component, and calculating the error distance between the smoothed first cutting trajectory and the second cutting trajectory; Step S6: Determine whether the maximum error distance between the first cutting trajectory and the second cutting trajectory after smoothing is less than a preset threshold. If so, determine that the second cutting trajectory is the second cutting trajectory of the sub-component. If not, adjust the maximum error of the second cutting trajectory and return to step S5 until the error distance is less than the preset threshold.

2. The cutting trajectory generation method according to claim 1, characterized in that: In step S3, the first cutting trajectory is smoothed using the following method: using the least squares method, a polynomial fitting is performed on the data set of the first cutting trajectory points to obtain smoothed data of the first cutting trajectory, thereby generating a smoothed first cutting trajectory.

3. The cutting trajectory generation method according to claim 1, characterized in that: In step S5, the error distance is calculated using the following method: the first cutting trajectory and the second trajectory are segmented according to preset distances to generate a corresponding plurality of first cutting trajectory segments and second trajectory segments, and the starting point distance and the end point distance between the corresponding second trajectory segments are calculated based on each first cutting trajectory segment, and the corresponding starting point distance and the end point distance are calculated to obtain two error distances.

4. The cutting trajectory generation method according to claim 3, characterized in that: In step S6, the second cutting trajectory is adjusted by the following method: determine whether the two error distances are both smaller than a preset threshold value; if so, determine the second trajectory segment; if not, offset the starting point or end point of the second trajectory segment toward the first cutting trajectory segment, and recalculate the error distance until the error distances of the starting point and end point of the second trajectory segment are both smaller than the preset threshold value.

5. The cutting trajectory generation method according to claim 1, characterized in that: After step S6, the second cutting trajectory continues to be smoothed, and the step of smoothing the second cutting trajectory includes: adjusting each second trajectory segment whose error distance is greater than a preset threshold value, so that the starting point and / or end point whose error distance is greater than the preset threshold value is offset N times the error distance toward the corresponding first cutting trajectory segment, and selecting two adjacent sub-trajectory segments of the second trajectory segment to calculate the discrete distances between the two sub-trajectory segments and the starting point and end point of the second trajectory segment, so that the points of the two adjacent sub-trajectory segments adjacent to the second trajectory segment are offset N times the discrete distance toward the second trajectory segment.

6. Cutting trajectory generation system, characterized by: The method according to any one of claims 1 to 5 is used to cut the sub-parts or mother parts to be cut, which comprises: A positioning module, which is used to position the sub-component and to position the mother component after generating the first cutting trajectory; The visual module is used to collect the sampling point coordinates of the positioned sub-part or mother part and generate a point cloud model; A processing module, which is used to: perform hand-eye conversion of the second coordinate system and the third coordinate system based on the first coordinate system, perform three-dimensional modeling based on the point cloud models of the mother component and the child component, generate a first cutting trajectory for cutting the mother component based on the first coordinate system, and smooth the first cutting trajectory; generate a second cutting trajectory for cutting the child component based on the second coordinate system, and determine whether the maximum error distance between the first cutting trajectory and the second cutting trajectory after smoothing is less than a preset threshold value. If so, determine that the second cutting trajectory is the second cutting trajectory of the child component. If not, adjust the maximum error of the second cutting trajectory and continue to generate the second cutting trajectory until the error distance is less than the preset threshold value.

7. Visual cutting equipment, characterized by: The cutting trajectory generation system of claim 6 is included, and the sub-part or mother part to be cut is cut by using the method of any one of claims 1 to 5, and further includes: The cutting module comprises a cutting robot for cutting the sealing head or the sealing tile. The output end of the cutting robot is provided with the cutting module. The cutting robot, the cutting module and the vision module are all connected to the processing module.

8. A visual cutting device according to claim 7, characterized in that: The output end of the cutting robot is provided with a rotating component, and the visual module and the cutting module are respectively connected to the rotating component.

9. The visual cutting device according to claim 7, characterized in that: The positioning module includes: a frame, a first limit member and a second limit member respectively arranged on the frame, and a first drive component, the second limit member is connected to the output end of the first drive component, the frame is used to place the mother part or sub-part to be cut, and the first drive component is used to drive the second limit member to adjust the distance between it and the first limit member.

10. The visual cutting device according to claim 9, characterized in that: The frame is provided with a second driving component, the positioning module is connected to the output end of the second driving component, a ground rail is provided on one side of the positioning module, the cutting robot is connected to the output end of the ground rail, the ground rail is arranged along the length direction of the positioning module, and the center line of the second driving component is perpendicular to the center line of the ground rail.

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