Cutting trajectory generation method, cutting trajectory generation system, and visual cutting device

Abstract

The application provides a cutting track generation method, a cutting track generation system and a visual cutting device. The application converts a second coordinate system about a parent piece and a third coordinate system about a child piece into a first coordinate system, generates a first cutting track about the parent piece and a second cutting track about the child piece through the first coordinate system, reduces the initial error of the first cutting track and the second cutting track, positions the parent piece first, and performs smoothing processing after generating the first cutting track, so that the first cutting track can be used as a reference to perform sealing and cutting first, then the child piece is positioned, and the second cutting track is generated, so that repeated positioning is prevented, the error distance of the first cutting track and the second cutting track is reduced by continuously aligning the first cutting track with the first cutting track, the consistency of the first cutting track and the second cutting track is improved, and the cutting error is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cutting equipment, in particular to a cutting track generation method, a cutting track generation system and a visual cutting equipment, which are used for cutting the head and the sealing tile of an aluminum alloy plate fin heat exchanger. BACKGROUND

[0002] The laser cutting technology is widely used in the processing of metal and non-metal materials, which can reduce the processing time, reduce the processing cost and improve the workpiece quality. At present, the laser cutting technology is continuously expanding its application field: a three-dimensional laser cutting system or an industrial robot is adopted to generate a cutting space curve, and various three-dimensional cutting software is developed to speed up the process from drawing to cutting parts.

[0003] In the cutting process of the head and the sealing tile of the aluminum alloy plate fin heat exchanger, as shown in Figure 1 and Figure 3 , a plurality of sealing tiles 2 need to be cut from a parent piece 1 to be cut, as shown in Figure 2 , the head 4 is cut at both ends of a sub-piece 3 to be cut, and the sealing tile 2 is spliced to the head 4, and then welded into one body 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 a three-dimensional space, it brings great difficulty to cutting processing.

[0004] The current cutting method is to position the parent piece and the sub-piece to be cut in sequence, to image the parent piece and the sub-piece to be cut by three-dimensional imaging technology, to draw a cutting line in the form of marking, to manually drag a laser cutting head or to use an industrial robot to three-dimensionally identify the cutting line to realize cutting. However, in the above scheme, due to some factors, such as positioning error of the parent piece and the sub-piece, drawing error of a single set of cutting line, error superposition between the cutting lines of the parent piece and the sub-piece, and non-smoothness of the cutting line, the cutting error is increased, thereby causing a large splicing gap of the head and the sealing tile, increasing the difficulty of later welding and being difficult to control the welding precision. SUMMARY

[0005] The present application aims to overcome the above-mentioned deficiencies in the prior art, and provides a cutting track generation method, a cutting track generation system and a visual cutting equipment, which overcome the problem of a large splicing gap of the head and the sealing tile caused by the increase of cutting error due to the superposition of various errors and the non-smoothness of the cutting line in the prior art.

[0006] To solve the above technical problems, the present application provides a cutting track generation method, comprising the following steps:

[0007] Step S1: establishing a first coordinate system based on a robot for cutting;

[0008] Step S2: positioning the to-be-cut parent piece, constructing a second coordinate system based on the to-be-cut parent piece, collecting sample point coordinates of the to-be-cut parent piece, and performing three-dimensional modeling of the parent piece according to the sample coordinate point cloud;

[0009] Step S3: performing hand-eye conversion on the second coordinate system based on the first coordinate system, generating a first cutting track by using the first coordinate system and the three-dimensional model of the parent piece, and performing smoothing processing on the first cutting track;

[0010] Step S4: positioning the to-be-cut sub-piece, constructing a third coordinate system based on the to-be-cut sub-piece, collecting sample point coordinates of the to-be-cut sub-piece, and performing three-dimensional modeling of the sub-piece according to the sample coordinate point cloud;

[0011] Step S5: performing hand-eye conversion on the third coordinate system based on the first coordinate system, generating a second cutting track by using the first coordinate system and the three-dimensional model of the sub-piece, and calculating error distances of the first cutting track and the second cutting track after smoothing;

[0012] Step S6: determining whether the maximum error distance of the first cutting track and the second cutting track after smoothing is less than a preset threshold value, if yes, determining that the second cutting track is the second cutting track of the sub-piece, and if no, adjusting the maximum error of the second cutting track and returning to step S5 until the error distance is less than the preset threshold value.

[0013] In step S3, the first cutting track is smoothed by using the following method: using the least square method, performing polynomial fitting on a data set of first cutting track points to obtain smoothed data of the first cutting track, and generating the first cutting track after smoothing.

[0014] In step S5, the error distance is calculated by using the following method: the first cutting track and the second track are segmented according to a preset distance to generate a plurality of corresponding first cutting track segments and second track segments, the start point distance and the end point distance between the corresponding second track segments are calculated based on each first cutting track segment, and two error distances are obtained by calculating the corresponding start point distance and end point distance.

[0015] In step S6, the second cutting track is adjusted by using the following method: determining whether the two error distances are less than a preset threshold value, if yes, determining the second track segment, if no, offsetting the start point or the end point of the second track segment to the first cutting track segment, and recalculating the error distance until the start point and the end point error distances of the second track segment are less than the preset threshold value.

[0016] The application continues to smooth the second cutting track after step S6, and the step of smoothing the second cutting track comprises: adjusting the second track segment with an error distance greater than a preset threshold, offsetting the start point and / or end point of the second track segment with an error distance greater than the preset threshold to the corresponding first cutting track segment by N times the error distance, and selecting two adjacent sub-track segments of the second track segment to calculate the discrete distance between the two sub-track segments and the start point and end point of the second track segment, so that the points adjacent to the second track segment of the two adjacent sub-track segments are offset to the second track segment by N times the discrete distance.

[0017] A cutting track generation system which cuts the sub-piece or the parent piece to be cut by using the above method, comprising:

[0018] A positioning module for positioning the sub-piece and positioning the parent piece after generating the first cutting track;

[0019] A vision module for collecting the sampling point coordinates of the positioned sub-piece or parent piece to generate a point cloud model;

[0020] A processing module for: performing hand-eye conversion of the second coordinate system and the third coordinate system based on the first coordinate system, performing three-dimensional modeling based on the point cloud models of the parent piece and the sub-piece, generating the first cutting track for cutting the parent piece based on the first coordinate system, and smoothing the first cutting track; generating the second cutting track for cutting the sub-piece based on the second coordinate system, judging whether the maximum error distance of the smoothed first cutting track and the second cutting track is less than a preset threshold, if yes, determining that the second cutting track is the second cutting track of the sub-piece, and if no, adjusting the maximum error of the second cutting track, continuing to generate the second cutting track until the error distance is less than the preset threshold.

[0021] A visual cutting device comprising the above cutting track generation system and cutting the sub-piece or the parent piece to be cut by using the above method, further comprising:

[0022] A cutting module comprising a cutting robot for cutting the head or the tile, the output end of the cutting robot is provided with a cutting module, and the cutting robot, the cutting module and the vision module are connected with the processing module.

[0023] The output end of the cutting robot is provided with a rotating assembly, and the vision module and the cutting module are connected to the rotating assembly.

[0024] The positioning module comprises a frame body, first and second limiting members arranged on the frame body, and a first driving assembly, the output end of the second limiting member is connected with the first driving assembly, the frame body is used for placing the parent piece or the sub-piece to be cut, and the first driving assembly is used for driving the second limiting member to adjust the distance between the second limiting member and the first limiting member.

[0025] The frame body is provided with a second driving assembly, the positioning module is connected with the output end of the second driving assembly, one side of the positioning module is provided with a ground rail, the cutting robot is connected with 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 assembly is perpendicular to the center line of the ground rail.

[0026] Compared with the prior art, the above technical scheme of the present application has the following advantages:

[0027] The second coordinate system about the parent piece and the third coordinate system about the child piece are converted into the first coordinate system respectively, the first cutting track about the parent piece and the second cutting track about the child piece are generated through the first coordinate system, the initial error of the first cutting track and the second cutting track is reduced, the parent piece is positioned first, and then smoothing processing is performed after the first cutting track is generated, so that the first cutting track is used as the reference to perform the sealing tile cutting first, then the child piece is positioned, and the second cutting track is generated, so that repeated positioning is prevented, the error distance of the first cutting track and the second cutting track is reduced by continuously aligning the first cutting track to the first cutting track, the consistency of the first cutting track and the second cutting track is improved, and the cutting error is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a slitting schematic view of the existing parent piece and sealing tile;

[0029] Figure 2 is a structural schematic view of the existing child piece and sealing head;

[0030] Figure 3 is a structural schematic view of the existing sealing tile;

[0031] Figure 4 is a structural schematic view of the cutting equipment according to the embodiment of the present application;

[0032] Figure 5 is a structural schematic view of the positioning module according to the embodiment of the present application;

[0033] Figure 6 is a structural schematic view of the positioning module according to the embodiment of the present application;

[0034] Figure 7 is Figure 4 is an enlarged view of A in FIG. 8.

[0035] ILLUSTRATION OF THE DRAWINGS IN THE SPECIFICATION: 1, parent piece; 2, sealing tile; 3, child piece; 4, sealing head; 5, ground rail;

[0036] 6, positioning module; 61, first limiting piece; 62, second limiting piece; 63, slide rail; 64, support body; 65, second driving assembly; 66, first driving assembly; 67, frame body;

[0037] 7, positioning module; 71, chuck; 72, pipe; 73, roller; 74, lifting support;

[0038] 8, limiting frame; 9, cutting robot; 10, rotating assembly; 11, vision module; 12, cutting module. DETAILED DESCRIPTION

[0039] The present application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it, but the embodiments are not as a limitation on the present application.

[0040] Example 1.

[0041] Referring to Figures 4-7 The cutting trajectory generation method of the present application is used for cutting the head and the sealing tile of the aluminum alloy plate fin heat exchanger, and includes the following steps:

[0042] Step S1: Establishing a first coordinate system based on the robot for cutting.

[0043] Step S2: Positioning the to-be-cut mother piece 1, constructing a second coordinate system based on the to-be-cut mother piece 1, collecting the sampling point coordinates of the to-be-cut mother piece 1, and modeling the mother piece 1 in three dimensions according to the sampling coordinate point cloud.

[0044] Step S3: Converting the second coordinate system based on the first coordinate system using the hand-eye calibration algorithm, generating a first cutting trajectory using the first coordinate system and the three-dimensional model of the mother piece 1, and smoothing the first cutting trajectory.

[0045] The hand-eye calibration algorithm can be calculated based on the known robot motion posture and the coordinate data collected by the vision sensor. For example, Tsai-Lenz hand-eye calibration algorithm is adopted, and according to the coordinates of the same point on the mother piece 1 collected by the vision sensor under different postures of the robot, the coordinate system conversion matrix is calculated.

[0046] In step S3, the first cutting trajectory is smoothed using the following method: using the least squares method, polynomial fitting is performed on the data set of the first cutting trajectory points to obtain the smoothed data of the first cutting trajectory, and a smoothed first cutting trajectory is generated. When smoothing the first cutting trajectory, first determine the polynomial order as described in detail above, then construct the coefficient matrix and vector, and then according to the data set of the first cutting trajectory points, the coordinate information of each data point is integrated into the construction of the matrix and vector. Then the polynomial coefficients are solved by the least squares method, which is realized by matrix operation. The obtained coefficients can determine the shape of the fitted polynomial, and the smoothed first cutting trajectory is generated according to the obtained polynomial coefficients.

[0047] Step S4: Position the to-be-cut subpart 3, construct a third coordinate system based on the to-be-cut subpart 3, collect the sampling point coordinates of the to-be-cut subpart 3, and perform three-dimensional modeling of the subpart 3 according to the sampling point cloud.

[0048] Step S5: Perform hand-eye calibration algorithm conversion on the third coordinate system based on the first coordinate system, generate a second cutting trajectory using the first coordinate system and the three-dimensional model of the subpart 3, and calculate the error distance between the smoothed first cutting trajectory and the second cutting trajectory.

[0049] In step S5, the error distance is calculated using the following method: by respectively segmenting the first cutting trajectory and the second trajectory according to a preset distance, a plurality of corresponding first cutting trajectory segments and second trajectory segments are generated, the start point distance or the end point distance between the corresponding second trajectory segments is calculated based on each first cutting trajectory segment, and two error distances are obtained by calculating the corresponding start point distance or end point distance. 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, so it has good universality.

[0050] Step S6: Determine whether the maximum error distance between the smoothed first cutting trajectory and the second cutting trajectory is less than a preset threshold, if yes, determine that the second cutting trajectory is the second cutting trajectory of the subpart 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.

[0051] The preset threshold is a value pre-set according to the cutting accuracy requirement. 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 the subpart 3. If it does not meet the requirements, the maximum error of the second cutting trajectory is adjusted. The trajectory can be adjusted by locally modifying the coordinates of the trajectory points, and then the error distance is recalculated until the requirements are met.

[0052] In step S6, the second cutting trajectory is adjusted by the following method: judging whether both error distances are less than the preset threshold value, if yes, determining the second trajectory segment, if not, making the start point or end point of the second trajectory segment offset to the first cutting trajectory segment, and recalculating the error distance until the start point and end point error distances of the second trajectory segment are less than the preset threshold value. The specific steps are as follows: first, compare the two groups of error distances calculated before, the start point distance group and the end point distance group, with the preset threshold value. If all error distances are less than the preset threshold value, the current second trajectory segment is determined as the final second cutting trajectory, which can be used for cutting the sub-piece 3. If there is an error distance that does not meet the requirements, according to whether the start point distance or the end point distance does not meet the requirements, the start point or the end point of the second trajectory segment is adjusted. After adjustment, the two groups of error distances, the start point distance and the end point distance, are recalculated, and compared with the preset threshold value again. This cycle is repeated until all values in the two groups of error distances are less than the preset threshold value. At this time, the determined second trajectory segment is the second cutting trajectory of the sub-piece that meets the requirements.

[0053] In step S2 or step S4: import the point cloud of the master piece 1 or the sub-piece 3 into the three-dimensional modeling software, perform three-dimensional modeling and extract the outer contour information. In step S3 or step S5: by importing the three-dimensional model of the master piece 1 or the sub-piece 3 into the YuyiRobotCAM software platform, input the following parameters of the cutting seal tile 2 or the cover 4: diameter, thickness, cutting arc diameter, intersection line position, inclination, to generate the first cutting trajectory or the second cutting trajectory.

[0054] After step S6, the second cutting trajectory is continued to be smoothed. The steps of smoothing the second cutting trajectory include: adjusting the second trajectory segment whose each error distance is greater than the preset threshold value, making the start point and / or end point whose error distance is greater than the preset threshold value offset to the corresponding first cutting trajectory segment by 0.2-0.5 times the error distance, and selecting the adjacent two sub-trajectory segments of the second trajectory segment to calculate the dispersion distance of the two sub-trajectory segments from the start point and the end point of the second trajectory segment, so that the points adjacent to the second trajectory segment of the adjacent two sub-trajectory segments offset to the second trajectory segment by 0.2-0.5 times the dispersion distance. By adjusting the second trajectory segment whose error distance is greater than the preset threshold value and its adjacent sub-trajectory segment, local mutations and discontinuous points in the trajectory can be effectively reduced, the entire second cutting trajectory is smoother, the robot moves more stably in the cutting process, the cutting jitter caused by the non-smooth trajectory is reduced, and thus the cutting precision and quality are improved.

[0055] When cutting a pipe with a smaller size, one end of the pipe 72 is clamped by the chuck 71, and the other end of the pipe 72 is supported by the roller 73, the roller 73 can be adjusted up and down through the lifting support 74, and the other end of the pipe is provided with a limiting frame 8. When using the positioning module 7, a limiting frame 8 is also arranged at the end of the master piece 1 or the sub-piece 3.

[0056] Embodiment two.

[0057] Referring to Figures 4-7 A cutting trajectory generation system for cutting the head and the seal of the aluminum alloy plate fin heat exchanger, using the method of embodiment 1 to cut the sub-piece 3 or the parent piece 1 to be cut, which includes:

[0058] A positioning module 7 for positioning the sub-piece 3 and positioning the parent piece 1 after generating the first cutting trajectory;

[0059] A vision module 11, which is a 3D vision guided camera, is used to collect the sampling point coordinates of the positioned sub-piece 3 or parent piece 1, and generate a point cloud model;

[0060] A processing module for: according to the hand-eye calibration algorithm conversion of the second coordinate system and the third coordinate system based on the first coordinate system, three-dimensional modeling according to the point cloud model of the parent piece 1 and the sub-piece 3, generating the first cutting trajectory for cutting the parent piece 1 based on the first coordinate system, and smoothing the first cutting trajectory; generate the second cutting trajectory for cutting the sub-piece 3 based on the second coordinate system, judge whether the maximum error distance of the smoothed first cutting trajectory and the second cutting trajectory is less than the preset threshold, if yes, determine that the second cutting trajectory is the second cutting trajectory of the sub-piece 3, if not, adjust the maximum error of the second cutting trajectory, continue to generate the second cutting trajectory, until the error distance is less than the preset threshold.

[0061] The cutting trajectory generation system of the embodiment, the positioning sequence of the positioning module 6 first the sub-piece 3 and then the parent piece 1, and the use of the first cutting trajectory in the processing module, reduce the repeated positioning and unnecessary calculation process, improve the efficiency of the cutting operation. At the same time, through the effective control of the cutting trajectory error, the number of adjustments in the cutting process is reduced, and the cutting efficiency is further improved. The smoothing processing of the cutting trajectory and the accurate error control of the processing module make the cutting process more stable, and the cutting tool can move along the accurate trajectory. This helps to reduce the roughness of the cutting surface, improve the quality of the cutting, and ensure that the sub-piece 3 and the parent piece 1 after cutting can meet the requirements of assembly or subsequent processing.

[0062] The cutting parameter setting includes the following steps:

[0063] 1. Cutting parameter setting.

[0064] Tool tip distance from surface: the distance between the end of the cutting tool and the surface of the tool, generally 5-10mm, profile inclination angle: the inclination angle of the cutting profile, 30-45 degrees.

[0065] 2. Speed setting.

[0066] Robot joint speed: the moving speed setting of the robot in non-cutting state;

[0067] Robot cutting speed: the speed of the robot cutting the workpiece;

[0068] Robot approach / away speed: the speed of the robot approaching the workpiece, leaving the workpiece.

[0069] 3. Trajectory setting.

[0070] Initial tool tilt angle: the angle setting of the tilt of the cutting head at the beginning of cutting;

[0071] End tool tilt angle: the angle setting of the tilt of the cutting head at the end of cutting;

[0072] Arc-up Z-axis compensation distance: the Z-axis distance compensation of the starting position;

[0073] Trajectory point density: the point density setting of the generated trajectory.

[0074] 4. Communication setting.

[0075] Robot IP: the communication address setting of the robot;

[0076] Vision detection IP: the communication address setting of the vision detection.

[0077] Example three.

[0078] Referring to Figures 4-7 the drawings, the embodiment discloses a visual cutting device for cutting the head and the tile of the aluminum alloy plate fin heat exchanger, which comprises the cutting trajectory generation system of the embodiment two and cuts the sub-piece 3 or the parent piece 1 to be cut by the method of the embodiment one, and further comprises:

[0079] a cutting module, which comprises a cutting robot 9 for cutting the head 4 or the tile 2, and the output end of the cutting robot 9 is provided with the cutting module, and the cutting robot 9, the cutting module and the vision module are connected with the processing module.

[0080] Referring to Figure 7 the drawings, the output end of the cutting robot 9 is provided with a rotating assembly 10, and the vision module 11 and the cutting module 12 are connected to the rotating assembly 10, and the vision module 11 and the cutting module 12 can be switched, for the vision module 11, the rotating function can expand the field of view range, so that it can collect the sampling point coordinates of the sub-piece 3 or the parent piece 1 to be cut from different angles, so as to more comprehensively obtain the shape information of the workpiece; for the cutting module 12, the rotating function can adjust the cutting direction in the cutting process, adapt to the cutting demand of different shape workpieces, and when cutting the workpiece with a curved surface or a complex contour, the cutting module 12 can be rotated to maintain the best cutting angle.

[0081] The positioning module 6 comprises a rack body 67, a first limiting member 61 and a second limiting member 62 arranged on the rack body 67 respectively, and a first driving assembly 66, the second limiting member 62 is connected with the output end of the first driving assembly 66, the rack body 67 is used for placing the to-be-cut parent piece 1 or the sub-piece 3, and the first driving assembly 66 is used for driving the second limiting member 62 to adjust the distance between the second limiting member 62 and the first limiting member 61. When the to-be-cut parent piece 1 or the sub-piece 3 needs to be positioned, first, the workpiece is placed on the rack body, according to the size of the workpiece, the processing module or the control unit calculates the distance that the second limiting member needs to move, and sends a control signal to the first driving assembly 66 to push the second limiting member 62 to move to the specified position. After the second limiting member moves to the position, the first limiting member 61 and the second limiting member 62 clamp the workpiece on the rack body, and the positioning operation is completed. The position of the workpiece is determined, which provides positioning for subsequent visual acquisition, cutting track generation and cutting operation.

[0082] Specifically, the rack body 67 comprises at least two groups of support bodies 64, the at least two groups of support bodies 64 are both slidably connected with the first limiting member 61 and the second limiting member 62 at two ends respectively, and the second limiting member 62 is connected with the output end of the first driving assembly 66, so that the second limiting member 62 is close to or away from the first limiting member 61, thereby clamping the to-be-cut workpiece, and the first driving assembly 66 is selected from any one of a servo lead screw and a driving cylinder.

[0083] Referring to FIGS. 1, 2 and 3, Figure 4 and Figure 6 As shown in the figures, the rack body 67 is provided with a second driving assembly 65, the positioning module 6 is connected with the output end of the second driving assembly 65, one side of the positioning module 6 is provided with a ground rail 5, the cutting robot 9 is connected with 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 driving assembly 65 is perpendicular to the center line of the ground rail 5, according to the size of the to-be-cut workpiece and the requirement of the cutting task, the control system first controls the second driving assembly 65 to move the positioning module 6 to the initial position in the vertical direction. The cutting robot 9 moves to the approximate position above the workpiece along the ground rail 5. The visual module starts to collect the sampling point coordinates of the workpiece, the positioning module 6 fine adjusts according to the actual position of the workpiece, to ensure that the workpiece is in the best cutting position. The cutting track generation system generates the cutting track according to the collected data, and the cutting robot 9 starts the cutting operation according to the cutting track. During the cutting process, if the cutting track changes in the vertical direction, the second driving assembly adjusts the position of the positioning module according to the instruction of the control system; if it changes in the horizontal direction, the cutting robot 9 moves along the ground rail 5 until the whole cutting task is completed.

[0084] Obviously, the above embodiments are merely example for clearly illustrating, and are not limitation to the embodiments. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and can not be exhausted. The obvious changes or variations derived therefrom are still within the scope of the present invention.

Claims

1. A method for generating cutting trajectories, characterized in that, Includes the following steps: Step S1: Establish a first coordinate system based on the robot used for cutting; Step S2: Position the parent part to be cut, construct a second coordinate system based on the parent part to be cut, collect the coordinates of the sampling points of the parent part to be cut, and perform a 3D model of the parent part based on the sampling coordinate point cloud; Step S3: Perform hand-eye transformation on the second coordinate system based on the first coordinate system, generate the first cutting trajectory using the first coordinate system and the parent 3D model, and smooth the first cutting trajectory; Step S4: Position the sub-part to be cut, construct a third coordinate system based on the sub-part to be cut, collect the coordinates of the sampling points of the sub-part to be cut, and perform 3D modeling of the sub-part based on the sampling coordinate point cloud; Step S5: Perform hand-eye transformation on the third coordinate system based on the first coordinate system, generate the second cutting trajectory using the first coordinate system and the 3D model of the sub-part, and calculate the error distance between the smoothed first cutting trajectory and the second cutting trajectory; Step S6: Determine whether the maximum error distance between the smoothed first cutting trajectory and the second cutting trajectory is less than a preset threshold. If yes, determine that the second cutting trajectory is the second cutting trajectory of the sub-component. If no, 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 fit is performed on the data set of the first cutting trajectory points to obtain the smoothed data of the first cutting trajectory, thus generating the 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 a preset distance to generate multiple corresponding first cutting trajectory segments and second trajectory segments. Based on each first cutting trajectory segment, the starting distance and ending distance between the corresponding second trajectory segments are calculated. The corresponding starting distance and ending distance are then used 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: determining whether both error distances are less than a preset threshold. If yes, the second trajectory segment is determined; if no, the starting point or ending point of the second trajectory segment is shifted toward the first cutting trajectory segment, and the error distance is recalculated until the error distances of the starting point and ending point of the second trajectory segment are both less than the preset threshold.

5. The cutting trajectory generation method according to claim 3, characterized in that: After step S6, the second cutting trajectory is further smoothed. The smoothing process of the second cutting trajectory includes: adjusting each second trajectory segment with an error distance greater than a preset threshold, so that the starting point and / or ending point of the second trajectory segment with an error distance greater than the preset threshold are offset by N times the error distance to the corresponding first cutting trajectory segment, and selecting two adjacent sub-trajectory segments of the second trajectory segment to calculate the discrete distance between the two sub-trajectory segments and the starting point and ending 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 by N times the discrete distance to the second trajectory segment.

6. A cutting trajectory generation system, characterized in that: It uses the method described in any one of claims 1-5 to cut the sub-part or parent part to be cut, which includes: The positioning module is used to position the sub-components and, after generating the first cutting trajectory, to position the parent component. The vision module is used to collect the coordinates of sampling points of the positioned child or parent component and generate a point cloud model. The processing module is used to: perform hand-eye conversion between the second and third coordinate systems based on the first coordinate system; perform 3D modeling based on the point cloud models of the parent and child components; generate a first cutting trajectory for cutting the parent 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; determine whether the maximum error distance between the smoothed first and second cutting trajectories is less than a preset threshold; 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.

7. A vision cutting device, characterized in that: Including the cutting trajectory generation system of claim 6, and using the method of any one of claims 1-5 to cut the sub-part or parent part to be cut, further comprising: The cutting module includes a cutting robot for cutting end caps or tiles, the output end of which is equipped with a cutting module, and 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 equipped with a rotating component, and the vision 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 limiting member and a second limiting member respectively disposed on the frame, and a first driving component. The output end of the second limiting member and the first driving component are connected. The frame is used to place the mother part or daughter part to be cut, and the first driving component is used to drive the second limiting member to adjust its distance from the first limiting member.

10. The visual cutting device according to claim 9, characterized in that: The frame is equipped with a second drive component. The positioning module and the output end of the second drive component are connected. 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 set along the length direction of the positioning module. The center line of the second drive component is perpendicular to the center line of the ground rail.

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