Numerical control industrial machining method and device based on trajectory curve fitting

Abstract

The invention discloses a numerical control industrial machining method and device based on trajectory curve fitting, and the method comprises the steps: obtaining a to-be-fitted trajectory and a machining mode based on the product type of a to-be-machined product, and obtaining a first trajectory coordinate of the to-be-fitted trajectory; dividing the to-be-fitted track into a plurality of sub-line segments based on the processing mode and the first track coordinates; fitting the plurality of sub-line segments to obtain a target fitting track; determining the type of the target fitting trajectory based on the second trajectory coordinate of the target fitting trajectory; and performing numerical control machining on the to-be-machined product based on the type of the target fitting track. A point-to-point machining mode in a track is changed into a line segment-to-line segment machining mode in the track, so that the pause frequency in the operation process of a machining tool is reduced as much as possible, the overall machining efficiency is improved, meanwhile, the frequent start-stop frequency of a servo motor is reduced as much as possible, and the machining efficiency is improved. The problem of equipment vibration caused by frequent start and stop is relieved, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control industrial processing, and in particular to a numerical control industrial processing method and a device thereof based on trajectory curve fitting. Background Art

[0002] With the upgrading of automation level of industrial equipment, in order to adapt to various free shape processing, more and more industrial products tend to use CNC machining methods to achieve contour processing. In the process of using CNC machining, the CNC industrial controller mainly controls the machining tool to process the industrial product along the predetermined trajectory.

[0003] At present, custom processing using CNC files has become standard in the processing mode of CNC industrial controllers. Since CNC files are generally generated by design software in the corresponding field, under the condition of controllable accuracy, many design software will split the original arc, polyline, spline and other trajectories into small continuous and dense sub-segment trajectories in order to take into account that some low-end CNC industrial controllers that cannot execute arc and spline trajectories can smoothly execute these files, making the trajectory points of CNC processing files very numerous and short. Therefore, when using the point-to-point original trajectory of CNC processing files, the number of times the processing tool pauses will increase, resulting in a slower processing speed. In addition, the frequent changes in the trajectory during the processing process will also cause the servo motor to start and stop frequently, which will cause equipment vibration under frequent start and stop conditions, affecting the life of the overall equipment. Summary of the invention

[0004] The purpose of the present invention is to solve the problems in the prior art and to propose a numerical control industrial processing method and device based on trajectory curve fitting.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A CNC industrial machining method based on trajectory curve fitting,

[0007] The following steps are involved:

[0008] Acquire a trajectory to be fitted and a processing mode based on a product type of the product to be processed, and acquire a first trajectory coordinate of the trajectory to be fitted;

[0009] Dividing the to-be-fitted trajectory into a plurality of sub-segments based on the processing mode and the first trajectory coordinates; the plurality of sub-segments are in a continuous state;

[0010] Fitting a plurality of the sub-line segments to obtain a target fitting trajectory;

[0011] Determining a type of the target fitting trajectory based on a second trajectory coordinate of the target fitting trajectory;

[0012] The product to be processed is numerically controlled based on the type of the target fitting trajectory.

[0013] According to a numerical control industrial machining method based on trajectory curve fitting provided by the present invention, the fitting of the plurality of sub-line segments to obtain a target fitting trajectory comprises:

[0014] The starting point coordinates of the first target sub-line segment among the plurality of sub-line segments are connected with the two end point coordinates of the second target sub-line segment among the plurality of sub-line segments to obtain a first angle; the first target sub-line segment is the first sub-line segment among the plurality of sub-line segments, and the second target sub-line segment is any other sub-line segment among the plurality of sub-line segments except the first sub-line segment;

[0015] The coordinates of the starting point of the first target sub-line segment among the plurality of sub-line segments are connected with the coordinates of the two end points of the third target sub-line segment among the plurality of sub-line segments to obtain a second angle; the third target sub-line segment is any other sub-line segment among the plurality of sub-line segments except the first sub-line segment and the second sub-line segment, and the third target sub-line segment is continuous with the second target sub-line segment and is located after the second target sub-line segment;

[0016] Obtaining an angle difference based on the first angle and the second angle;

[0017] The plurality of sub-line segments are fitted based on the angle difference to obtain the target fitting trajectory.

[0018] According to a numerical control industrial machining method based on trajectory curve fitting provided by the present invention, the multiple sub-line segments are fitted based on the angle difference to obtain the target fitting trajectory, including:

[0019] If the angle difference is less than or equal to a preset threshold, a first trend direction result between the current target sub-segment and the fourth target sub-segment, and a second trend direction result between the current target sub-segment and the fifth target sub-segment are determined; the current target sub-segment is any other sub-segment among the multiple sub-segments except the first sub-segment and the second sub-segment, the fourth target sub-segment is an adjacent sub-segment of the current target sub-segment, and the fifth target sub-segment is an alternate sub-segment of the current target sub-segment;

[0020] If the first trend direction result is trend direction consistency and the second trend direction result is trend direction consistency, the current target sub-segment, the fourth target sub-segment and the fifth target sub-segment are connected until at least one of the first trend direction result and the second trend direction result is trend direction inconsistent, stop fitting and obtain the target fitting trajectory.

[0021] According to a numerical control industrial machining method based on trajectory curve fitting provided by the present invention, the starting point coordinates of a first target sub-line segment among the plurality of sub-line segments are connected with the two end point coordinates of a second target sub-line segment among the plurality of sub-line segments to obtain a first angle, including:

[0022] Based on the starting point coordinate x0 of the first target sub-segment, the i-th sub-segment x i and the i+1th sub-segment x in the second target sub-segment i+1 , determine the first angle;

[0023] The calculation formula of the first angle is as follows:

[0024]

[0025] Among them, a i It is represented by the length between the end point of the i-th sub-segment in the second target sub-segment and the starting point coordinate x0 in the first target sub-segment, b i+1 It is represented by the length between the end point and the starting point x0 of the i+1th sub-segment in the second target sub-segment, c i+1 It is represented by the length of the i+1th sub-segment in the second target sub-segment.

[0026] According to a numerical control industrial machining method based on trajectory curve fitting provided by the present invention, the determining the type of the target fitting trajectory based on the second trajectory coordinate of the target fitting trajectory includes:

[0027] Based on the first coordinate information, the second coordinate information and the third coordinate information in the second trajectory coordinates, a slope change result of the target fitting trajectory is obtained; the first coordinate information, the second coordinate information and the third coordinate information are coordinate information of different trajectory coordinate positions in the second trajectory coordinates;

[0028] If the slope change result is a preset value, determining that the type of the target fitting trajectory is a straight line trajectory;

[0029] If the slope change result is not the preset value, it is determined that the type of the target fitting trajectory is an arc trajectory.

[0030] According to a CNC industrial machining method based on trajectory curve fitting provided by the present invention, the machining mode includes a first machining mode, and the first machining mode represents tool path planning along contour lines at the same height on the workpiece;

[0031] The step of dividing the to-be-fitted trajectory into a plurality of sub-segments based on the processing mode and the first trajectory coordinates includes:

[0032] If the processing mode is the first processing mode, the equation line corresponding to the ordinate of the first target trajectory coordinate point in the first trajectory coordinate is determined as a contour line; the first target trajectory coordinate point is any trajectory coordinate point in the first trajectory coordinate;

[0033] Determine the vertical distance between each track coordinate point in the first track coordinate and the contour line;

[0034] The to-be-fitted trajectory is divided into a plurality of sub-segments based on the Euclidean distance and the vertical distance between two adjacent trajectory coordinate points in the first trajectory coordinates.

[0035] According to a CNC industrial machining method based on trajectory curve fitting provided by the present invention, the machining mode includes a second machining mode, and the second machining mode characterizes that the tool path and the part contour are kept at an equal distance;

[0036] The step of dividing the to-be-fitted trajectory into a plurality of sub-segments based on the processing mode and the first trajectory coordinates includes:

[0037] If the processing mode is the second processing mode, the first trajectory coordinate point in the first trajectory coordinate is used as the first reference trajectory coordinate point to determine the second target trajectory coordinate point in the first trajectory coordinate; a first sub-line segment is constructed based on the trajectory coordinate point between the first trajectory coordinate point and the second target trajectory coordinate point; the coordinate point distance between the second target trajectory coordinate point and the first trajectory coordinate point is equal to a preset spacing value;

[0038] Taking the second target trajectory coordinate point as the second reference trajectory coordinate point, determining the third target trajectory coordinate point in the first trajectory coordinates; constructing a second sub-line segment based on the trajectory coordinate points between the second target trajectory coordinate point and the third target trajectory coordinate point, until all trajectory coordinate points in the first trajectory coordinates are constructed as sub-line segments to obtain the multiple sub-line segments; the coordinate point distance between the third target trajectory coordinate point and the second target trajectory coordinate point is equal to a preset spacing value.

[0039] A numerical control industrial processing device based on trajectory curve fitting, comprising:

[0040] An acquisition unit, used for acquiring a trajectory to be fitted and a processing mode based on a product type of a product to be processed, and acquiring a first trajectory coordinate of the trajectory to be fitted;

[0041] A first processing unit is used to divide the trajectory to be fitted into a plurality of sub-line segments based on the processing mode and the first trajectory coordinates; the plurality of sub-line segments are in a continuous state;

[0042] A second processing unit is used to fit the plurality of sub-line segments to obtain a target fitting trajectory;

[0043] The third processing unit is configured to determine a type of the target fitting trajectory based on the second trajectory coordinates of the target fitting trajectory.

[0044] An output unit is used to perform CNC machining on the product to be processed based on the type of the target fitting trajectory.

[0045] The present invention provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of a numerical control industrial machining method based on trajectory curve fitting as described in any one of the above items are implemented.

[0046] The present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of a numerically controlled industrial machining method based on trajectory curve fitting as described in any one of the above items are implemented.

[0047] Compared with the prior art, the present invention has the following advantages:

[0048] The present invention provides a numerical control industrial processing method and device based on trajectory curve fitting. First, based on the first trajectory coordinate, the trajectory to be fitted is divided into multiple sub-segments, so that the trajectory coordinate points of the first trajectory coordinate are changed from points to sub-segments, so as to preliminarily improve the overall processing efficiency. Then, the multiple sub-segments are fitted to obtain a target fitting trajectory, so that the fitted target fitting trajectory is a combination of multiple sub-segments, so that the distance that the tool passes through at one time during processing is longer, and the overall processing efficiency is further improved. Finally, based on the type of the target fitting trajectory, the product to be processed is numerically controlled. When processing the product, targeted processing is performed according to the type of the target fitting trajectory, and the processing effect is better. In summary, during the processing process, the present invention first changes the point-to-point processing mode in the trajectory into the line segment to line segment processing mode in the trajectory, and then further fits the line segment to line segment processing mode, so as to reduce the number of pauses during the operation of the processing tool as much as possible, and improve the overall processing efficiency. At the same time, the number of frequent starts and stops of the servo motor is reduced as much as possible, so as to reduce the vibration problem of the equipment caused by frequent starts and stops, and improve the life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A schematic flow chart of a numerical control industrial machining method based on trajectory curve fitting provided by an embodiment of the present invention;

[0051] Figure 2 Trajectory diagram provided for an embodiment of the present invention Figure 1 ;

[0052] Figure 3 Trajectory diagram provided for an embodiment of the present invention Figure 2 ;

[0053] Figure 4 Trajectory diagram provided for an embodiment of the present invention Figure 3 ;

[0054] Figure 5 A quadrant diagram of a plane rectangular coordinate system provided by an embodiment of the present invention;

[0055] Figure 6 A schematic diagram of the structure of a numerically controlled industrial processing device based on trajectory curve fitting provided by an embodiment of the present invention;

[0056] Figure 7 This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Combine the following Figure 1 - Figure 5 The invention describes a numerical control industrial processing method and a device based on trajectory curve fitting.

[0059] Figure 1 The following is a flow chart of a numerical control industrial processing method based on trajectory curve fitting provided by an embodiment of the present invention. Figure 1 As shown, the method comprises:

[0060] Step 101 : obtaining a trajectory to be fitted based on the product type of the product to be processed, and obtaining a first trajectory coordinate of the trajectory to be fitted.

[0061] Specifically, the product type of the product to be processed includes the shape, product category, purpose, etc. of the product to be processed, which are all pre-stored in the database and retrieved from the database by the CNC machining controller. The product to be processed is any one of mechanical parts and molds, etc. Each product type of the product to be processed corresponds to a trajectory of the CNC machining tool in the database. Therefore, after obtaining the product type of the product to be processed, the CNC machining controller can determine all trajectories of the product to be processed from the pre-stored database. All trajectories include trajectories to be fitted and trajectories that do not need to be fitted. Here, only the trajectory to be fitted and the trajectory coordinates of the corresponding trajectory points of all the trajectories to be fitted in the database, namely the first trajectory coordinates, are obtained. Therefore, after obtaining the trajectory to be fitted, the corresponding first trajectory coordinates can be quickly matched, and the starting position of the trajectory to be fitted and other information about the trajectory coordinates carried by the trajectory to be fitted can be obtained through the first trajectory coordinates.

[0062] Step 102 : dividing the trajectory to be fitted into a plurality of sub-segments based on the processing mode and the first trajectory coordinates; the plurality of sub-segments are in a continuous state.

[0063] Specifically, in the process of dividing multiple sub-segments, multiple sub-segments can be divided in different ways according to different processing modes to meet different usage requirements. At the same time, after obtaining the specific position of the first trajectory coordinate in the plane coordinate system, since each trajectory to be fitted is composed of a number of trajectory points, the length of the multiple sub-segments is limited to a certain range, so that each individual sub-segment can be regarded as a straight line segment. By dividing the trajectory to be fitted into multiple sub-segments, the point-to-point operation in the actual work is initially planned to be operated by sub-segment to sub-segment, so as to change the operation mode of the trajectory in the actual work, initially improve the overall work efficiency, and facilitate the subsequent fitting process between adjacent sub-segments.

[0064] Furthermore, the processing mode includes a first processing mode, which represents tool path planning along contour lines of the same height on the workpiece. That is, the first processing mode is an equal height processing mode, in which the smoothness and consistency of the processing surface can be guaranteed, and the stress and deformation generated during processing can be effectively reduced. For the processing of complex shapes, the dimensional accuracy and surface roughness can be better controlled, thereby improving the processing quality.

[0065] Wherein, if the processing mode is the first processing mode, the equation line corresponding to the ordinate of the first target trajectory coordinate point in the first trajectory coordinate is determined as the contour line; the first target trajectory coordinate point is any trajectory coordinate point in the first trajectory coordinate; the vertical distance between each trajectory coordinate point in the first trajectory coordinate and the contour line is determined; based on the Euclidean distance and the vertical distance between two adjacent trajectory coordinate points in the first trajectory coordinate, the trajectory to be fitted is divided into a plurality of sub-segments. Here, the equation line corresponding to the ordinate of the first target trajectory coordinate point, in one embodiment, if the first target trajectory coordinate point P1(x p ,y p ), then the corresponding equation line is y=y p .

[0066] The processing mode also includes a second processing mode, which represents that the tool path is kept at an equal distance from the part contour. That is, the isometric processing mode. In the isometric processing mode, when processing simple structures with equal distances, the tool movement path is relatively simple, the processing process is relatively smooth, and the processing efficiency can be improved, especially for mass production of parts with equal distance structures. Thereby realizing the division process of multiple sub-segments in the equal height processing mode.

[0067] Among them, if the processing mode is the second processing mode, the first trajectory coordinate point in the first trajectory coordinate is used as the first reference trajectory coordinate point to determine the second target trajectory coordinate point in the first trajectory coordinate; the first sub-segment is constructed based on the trajectory coordinate point between the first trajectory coordinate point and the second target trajectory coordinate point; the coordinate point distance between the second target trajectory coordinate point and the first trajectory coordinate point is equal to the preset spacing value; in addition, the preset spacing value is less than or equal to the length limit range value of the above-mentioned multiple sub-segments.

[0068] The second target trajectory coordinate point is used as the second reference trajectory coordinate point to determine the third target trajectory coordinate point in the first trajectory coordinate; the second sub-line segment is constructed based on the trajectory coordinate point between the second target trajectory coordinate point and the third target trajectory coordinate point, until all trajectory coordinate points in the first trajectory coordinate point are constructed as sub-line segments to obtain multiple sub-line segments; the coordinate point distance between the third target trajectory coordinate point and the second target trajectory coordinate point is equal to the preset spacing value. Thus, the division process of multiple sub-line segments in the equidistant processing mode is realized.

[0069] Step 103, fitting multiple sub-line segments to obtain a target fitting trajectory.

[0070] Specifically, the starting point coordinates of the first target sub-line segment among the multiple sub-line segments are connected with the two end point coordinates of the second target sub-line segment among the multiple sub-line segments to obtain a first angle; the first target sub-line segment is the first sub-line segment among the multiple sub-line segments, and the second target sub-line segment is any other sub-line segment among the multiple sub-line segments except the first sub-line segment; in the actual calculation process, since the sub-line segments are fitted one by one starting from the starting point during the sub-line segment fitting process, the second target sub-line segment starts from the second sub-line segment in sequence.

[0071] The starting point coordinates of the first target sub-line segment among the multiple sub-line segments are connected with the two end point coordinates of the third target sub-line segment among the multiple sub-line segments to obtain the second angle; the third target sub-line segment is any other sub-line segment among the multiple sub-line segments except the first sub-line segment and the second sub-line segment, and the third target sub-line segment is continuous with the second target sub-line segment and is located after the second target sub-line segment; in the actual calculation process, since the sub-line segments are fitted one by one starting from the starting point during the sub-line segment fitting process, the third target sub-line segment starts from the third sub-line segment in sequence while following the second target sub-line segment continuously.

[0072] Based on the first angle and the second angle, an angle difference is obtained; based on the angle difference, multiple sub-segments are fitted to obtain a target fitting trajectory. When calculating the angle difference, the degree of turning of the third target sub-segment compared with the second target sub-segment can be determined by the angle difference.

[0073] Step 104 : determining the type of the target fitting trajectory based on the second trajectory coordinates of the target fitting trajectory.

[0074] Specifically, after fitting multiple sub-segments into a continuous target fitting trajectory, the second trajectory coordinates of the target fitting trajectory after fitting can be obtained according to the initial trajectory coordinates. At this time, the slope change result of the target fitting trajectory is obtained based on the first coordinate information, the second coordinate information and the third coordinate information in the second trajectory coordinates; based on the slope change result, the type of the target fitting trajectory is determined. The first coordinate information, the second coordinate information and the third coordinate information are the coordinate information of different trajectory coordinate positions in the second trajectory coordinates, so that the trajectory coordinate positions of the first coordinate information, the second coordinate information and the third coordinate information are different from each other, so as to realize the calculation of the slope change using three points. In addition, the first coordinate information is preferably the starting point information, the second coordinate information is preferably the midpoint information of the target fitting trajectory, and the third target information is preferably the end point information of the target fitting trajectory. The slope change at the three points of the target fitting trajectory is calculated using the starting point, the midpoint and the end point of the entire target fitting trajectory, so that the type of the target fitting trajectory after fitting can be judged according to the change of the slope. The types of the target fitting trajectory are divided into straight line trajectory and circular arc trajectory.

[0075] Step 105 , performing numerical control machining on the product to be machined based on the type of the target fitting trajectory.

[0076] Specifically, when CNC machining is performed on the product to be processed, the industrial controller controls the machining tool to process the product to be processed based on the fitted straight line trajectory and the fitted circular arc trajectory, so that the machining tool continuously passes through the fitted straight line trajectory or circular arc trajectory to complete the line-to-line machining process of the product to be processed.

[0077] The invention relates to the fields of numerical control machining, motion trajectory and trajectory fitting, and proposes a numerical control industrial machining method based on trajectory curve fitting. In the present invention, a numerical control industrial processing method is proposed. First, based on the first trajectory coordinate, the trajectory to be fitted is divided into multiple sub-segments, so that the trajectory coordinate points of the first trajectory coordinate are changed from points to sub-segments, so as to preliminarily improve the overall processing efficiency. Then, multiple sub-segments are fitted to obtain a target fitting trajectory, so that the fitted target fitting trajectory is a combination of multiple sub-segments, so that the distance that the tool passes through at one time during processing is longer, and the overall processing efficiency is further improved. Finally, based on the type of the target fitting trajectory, the product to be processed is numerically controlled, that is, whether the target fitting trajectory is a straight line trajectory or an arc trajectory, and the processed product is processed in a targeted manner, so that the processing effect is better, so that, during the processing process, the present invention first changes the point-to-point processing mode in the trajectory to the line segment to line segment processing mode in the trajectory, and then further fits the line segment to line segment processing mode, so as to reduce the number of pauses during the operation of the processing tool as much as possible, and improve the overall processing efficiency. At the same time, the number of frequent starts and stops of the servo motor is reduced as much as possible, so as to reduce the vibration problem of the equipment caused by frequent starts and stops, and improve the life of the equipment.

[0078] In step 102, if the processing mode is the first processing mode, that is, the equal height processing mode, in one embodiment, the coordinate set of a plurality of points of the first trajectory coordinate is first set to P = {p1, p2, p3, ..., p n}, where each point p q The coordinates of (x q ,y q ). Select the y value of a point in the coordinate set P of the first trajectory coordinates as the height value h of the contour line. For example, if the fifth point p5 (x5, y5) is selected, the contour line orientation is y = h = y5. For any point p in the first trajectory coordinates q (x q ,y q ), calculate p q The vertical distance d to the contour line y=h q :If y q ≥h, then d q =y q -h; if y q<h, then d q = h - y q 。At the same time, for each pair of adjacent points p in the first trajectory coordinates q (x q , y q ) and p q+1 (x q+1 , y q+1 ), (where q = 1, 2,..., n - 1), then the Euclidean distance d between two adjacent trajectory coordinate points q,q+1 , the formula is: And preset a distance threshold D d , starting from the first point p1 of the coordinate set P of the first trajectory coordinates, sequentially check the Euclidean distance d between adjacent points q,q+1 and the vertical distance d from the point to the contour line q , d q+1 , when satisfying d q,q+1 ≤D d ; and |d q - d q+1 |≤∈, (∈ represents a preset small error tolerance value for judging the "approximate equal height" situation of adjacent points near the contour line), when both are satisfied at the same time, then these two adjacent points d q and d q+1 are regarded as belonging to the same sub-segment. When not both are satisfied at the same time, the point d q is used as the end point of the current sub-segment, and then a new sub-segment is reconstructed starting from the point d q+1 , repeating the above judgment process until all trajectory points are traversed, and completing the division of the trajectory to be fitted into multiple sub-segments.

[0079] In step 102, if the processing mode is the second processing mode, that is, in the equal-distance processing mode, in one embodiment. First, set the coordinate set of several points of the first trajectory coordinates as F = {f1, f 2， f 3， …, f n}, where f m = (x m , y m ) represents the mth point in the two-dimensional coordinates. Preset the spacing value as L, and the allowable distance error is for processing the approximate matching of the calculated distance and the preset spacing value. Then set the current reference point f cu = f1, the current sub-segment set S = {S1}, and initialize a sub-segment S1 it contains, and set the sub-segment index for marking the serial number of the sub-segment currently being constructed or processed, where S1 = {f1};

[0080] From the coordinate set F of several points in the first trajectory, the current reference point f cu Start (that is, the index is greater than the index of the current reference point in set F), and traverse each point f in turn m (m> Index (f cu )), for each traversed point f m , calculate its difference with the current reference point f cu The distance between In the process, find satisfaction Point f ta , so that the calculated point f r With the current reference point f cu The absolute value of the difference between the distance between the two and the preset spacing value L is less than or equal to the allowable distance error That is, it is determined that a target point that approximately matches the preset spacing value has been found.

[0081] Then, when the target point f that meets the above conditions is found ta , construct a new sub-segment: Create a new sub-segment set and initialize it to contain the current reference point f cu ,Right now Record the current reference point f cu The index in store S is Right now From the coordinate set F, index Starting from point f, to the target point f ta , add these points to the newly created sub-segment set in turn In, that is, for To index(f ta ),implement Update sub-segment index The value of is increased by 1, that is Update the current reference point f cu is the target point f just found ta , which is used to continue searching for the next target point with a new reference point and construct a new sub-segment in the next cycle.

[0082] Repeat the above steps until the index (f cu )=n, indicating that the entire point set F has been traversed, and the obtained sub-segment set S={S1,S2,…,S m}, that is, according to the preset spacing value L and the allowed distance error The result after dividing the original trajectory coordinate point set.

[0083] In step 103, when calculating the first angle, based on the starting point coordinates x0 of the first target sub-segment, the i-th sub-segment xi and the i+1th sub-segment x in the second target sub-segment i+1 , determine the first angle as

[0084] Among them, a i It is represented by the length from the end point of the i-th sub-segment in the second target sub-segment to the starting point coordinate x0 in the first target sub-segment, b i+1 It is expressed as the length from the end point of the i+1th sub-segment in the second target sub-segment to the starting point x0, c i+1 is represented by the length of the i+1th sub-segment in the second target sub-segment. At the same time, since the lengths of multiple sub-segments are determined after division, c i+1 The length is always fixed.

[0085] On the other hand, in step 103, when calculating the second angle, based on the starting point coordinates x0 of the first target sub-segment, the jth sub-segment x j and the j+1th sub-segment x in the third target sub-segment j+1 , then the second angle is

[0086] Among them, a j It is represented by the length from the end point of the jth sub-segment in the third target sub-segment to the starting point coordinate x0 in the first target sub-segment, b j+1 It is expressed as the length from the end point of the j+1th sub-segment in the third target sub-segment to the starting point x0, c j+1 is represented by the length of the j+1th sub-segment in the third target sub-segment. Similarly, c j+1 The length of is also determined, and since the third target sub-line segment is connected to the second target sub-line segment, the third target sub-line segment is located after the second target sub-line segment, therefore, a j The length of b i+1 The length of a is the same, that is, j With b i+1 Refers to the length from the endpoint to the starting point of the same sub-segment, and j=i+1. When calculating the angle between the first endpoint of two consecutive sub-segments and the starting point coordinate x0, the first calculation of b i+1 The length can be stored for the second calculation, thereby avoiding the number of calculations of the length value, reducing the occupation of controller resources, and improving the overall calculation efficiency.

[0087] Specifically, the angle difference θ d =|∠x i+1 x0x i+2 -∠x i x0x i+1|; Note that the angle difference here is θ d The absolute value is taken to facilitate subsequent comparison with the preset threshold.

[0088] Furthermore, if the angle difference is less than or equal to a preset threshold, the first trend direction result between the current target sub-segment and the fourth target sub-segment, and the second trend direction result between the current target sub-segment and the fifth target sub-segment are determined; the current target sub-segment is any other sub-segment among the multiple sub-segments except the first sub-segment and the second sub-segment, the fourth target sub-segment is an adjacent sub-segment of the current target sub-segment, and the fifth target sub-segment is an alternating sub-segment of the current target sub-segment.

[0089] If the first trend direction result is trend direction consistency, and the second trend direction result is trend direction consistency, then the current target sub-segment, the fourth target sub-segment and the fifth target sub-segment are connected until at least one of the first trend direction result and the second trend direction result is inconsistent in trend direction, stop fitting, and obtain the target fitting trajectory. In the judgment of consistency, the trend direction change of the sub-segment is mainly judged, that is, the trend direction of the current target sub-segment is compared with the trend direction of the fourth target sub-segment to obtain the first trend direction result, and then the trend direction of the current target sub-segment is compared with the trend direction of the fifth target sub-segment to obtain the second trend direction result. The first trend direction result includes two situations: a changed state and an unchanged state, and the second trend direction result also includes two situations: a changed state and an unchanged state. That is, only when one of the first trend direction result and the second result is a changed state, the consistency changes. At the same time, after the angle difference is greater than the preset threshold, the trajectory fitting step is directly stopped. The comparison of the angle difference with the preset threshold is a preliminary judgment of the fitting process of multiple sub-segments. Only when the preliminary judgment requirements are met can the subsequent re-judgment be performed.

[0090] Relatively speaking, it is determined that the angle difference is less than or equal to the preset threshold. d Is it greater than θ min , if θ d >θ min , indicating that the third target sub-segment has a larger turning range than the second target sub-segment, so the fitting can be stopped here and the previous sub-segments can be connected together to obtain the target fitting trajectory. d ≤θ min , then the third target sub-segment of the surface has a smaller turning angle than the second target sub-segment, and the fitting process of the next sub-segment can be continued.

[0091] In one embodiment, the preset threshold value θ min =5°, Figure 2-Figure 4 This is an example of the trajectory diagram provided by the present invention. Figure 2Trajectory diagram provided by the embodiment of the present invention Figure 1 , divide the trajectory to be fitted into multiple sub-segments, where the trajectory on the left is Figure 2 (1) is divided into 9 sub-segments, and the trajectory on the right is Figure 2 (2) is divided into 8 sub-segments. From the left track, Figure 2 As can be seen from (1), the three consecutive segments [1-3] and [5-7] are vertical vectors. Therefore, from the trend point of view, the angle between these three vertical vectors is 0, so they can be fitted into a continuous straight line trajectory. Figure 2 It can be seen from (2) that their slopes are obviously changing, so it is necessary to determine whether the multiple sub-segments in the right trajectory can be fitted into the target fitting trajectory.

[0092] Therefore, the right trajectory is Figure 2 (2) Projected into the plane coordinate system, that is, Figure 3 Trajectory diagram provided by the embodiment of the present invention Figure 2 At this time, according to the position of the trajectory in the coordinate system, the length of each sub-segment can be calculated, and the distance from the starting point to the end point of each sub-segment can also be calculated. Finally, a triangle formed by the starting point 0 and the two endpoints of the current sub-segment is obtained, and the triangles formed have angles based on the starting point 0, that is, ∠102, ∠203, ∠304... At this time, the trend change between adjacent sub-segments can be judged from the fluctuation range between adjacent angles. If the trend change is small, fitting can continue. If the trend change is large, there are two situations: continue fitting and stop fitting. This feature can be used to filter out sub-segments that produce mutations and cause excessive angles, and terminate fitting in advance to obtain closer results.

[0093] Specifically, Figure 4 The trajectory example 3 shown in the figure shows 9 sub-segments to be fitted. The change fluctuation range between the adjacent angles is used to judge the trend change between adjacent sub-segments (that is, the angle difference between adjacent angles is compared with the preset threshold value). When the position of sub-segment 5 is obtained, the fitting is terminated in advance, that is, at this time ∠506-∠405>the preset threshold value, which is 5°, thereby filtering the mutation generated at sub-segment 6.

[0094] However, it should be noted that, in one embodiment, even when the angle difference between adjacent angles is less than a preset threshold, there may still be the following conditions that affect the fitting, such as when the trend direction of the sub-line segment has changed. In this case, it is necessary to further filter the noise points of the sub-line segment to determine whether the trend direction of the sub-line segment has changed when the angle difference is less than the preset threshold.

[0095] The details are as follows: When calculating whether the trend directions are inconsistent, the original four quadrants and the four central axes will be numbered 1 to 8 in a counterclockwise order in the plane coordinate system to define the quadrant status of the sub-segment. Figure 5 This is a quadrant diagram of a rectangular coordinate system provided by an embodiment of the present invention. Figure 2 The multiple sub-segments in are all in the first quadrant, and the trend directions of the multiple sub-segments have not changed, where the trend direction is expressed as [1, 1, 1, 1, 1, 1, 1], 1 represents no change, and 0 represents a change. In extreme cases (such as when the length of the small segment generated is extremely short), the trend directions of the multiple sub-segments will be expressed as [1, 1, 1, 1, 1, 0, 1, 1], that is, the trend direction of the sixth sub-segment has changed. Since the length of the sixth sub-segment is extremely short, the sixth sub-segment may It is the noise caused by the numerical value, not the beginning of the change in the direction of the subsequent sub-segments. Therefore, it is necessary to filter the noise caused by the numerical value, that is, it is necessary to consider whether the trend directions of the current target sub-segment and the fourth target sub-segment and the fifth target sub-segment are inconsistent, and the above trend direction is expressed as [1, 1, 1, 1, 1, 0, 0, 1]. At this time, the fitting is terminated at the sixth sub-segment, instead of terminating the fitting immediately when the trend direction changes, thereby filtering out the noise caused by the numerical value to a certain extent.

[0096] More specifically, the steps for calculating the trend direction change between two adjacent sub-segments are as follows:

[0097] In one embodiment, the coordinates of the two endpoints of the first sub-line segment are (x1, y1) and (x2, y2), and the coordinates of the two endpoints of the adjacent second sub-line segment are (x2, y2) and (x3, y3). Then, in the x-axis direction, the change of the first sub-line segment Δx1=x2-x1, and the change of the second sub-line segment Δx2=x3-x2. When Δx1*Δx2>0, it indicates that the second sub-line segment continues in the x-axis direction. When Δx1*Δx2<0, it indicates that the second sub-line segment changes in the opposite direction in the x-axis direction.

[0098] Similarly, in the y-axis direction, the change of the first sub-segment Δy1=y2-y1, and the change of the second sub-segment Δy2=y3-y2. When Δy1*Δy2>0, it means that the second sub-segment continues in the y-axis direction. When Δy1*Δy2<0, it means that the second sub-segment changes in the opposite direction in the y-axis direction. Therefore, when the directions on the x-axis and y-axis do not change, the trend direction is used to represent it. Therefore, when the trend direction changes continuously, the fitting is terminated. When the trend direction of only one sub-segment changes, the noise points that cause the direction change due to the short sub-segment are filtered out to improve the accuracy of the sub-segment fitting process. This improves the fitting efficiency and accuracy of the sub-segment.

[0099] On the other hand, when performing the fitting process of the sub-segments, it is also necessary to first determine whether the number of the multiple sub-segments after the trajectory to be fitted is within the range of the number allowed for fitting. If not, it will be treated as a trajectory that has been fitted, and the total number of the overall trajectory fitting will be increased by 1.

[0100] In step 104, based on the slope change result, the type of the target fitting trajectory is determined, specifically:

[0101] If the slope change result is zero, the type of the target fitting trajectory is a straight line trajectory;

[0102] If the slope change result is not equal to zero, the type of the target fitting trajectory is an arc trajectory.

[0103] Specifically, in one embodiment, the first coordinate information A is (X1, Y1), the second coordinate information B is (X2, Y2), and the third coordinate information C is (X3, Y3). Then the slope of line segment AB is The slope of line segment BC is The slope change Among them, X2-X1≠0, X3-X2≠0, thus obtaining the change result of the slope.

[0104] After determining that the type of the target fitting trajectory is a circular arc trajectory, the center and radius of the circular arc trajectory are determined based on the first coordinate information, the second coordinate information, and the third coordinate information.

[0105] Specifically, in one embodiment, when calculating the center and radius of the arc trajectory, the first coordinate information A is taken as (X1, Y1), the second coordinate information B is taken as (X2, Y2), and the third coordinate information C is taken as (X3, Y3). Then the center coordinates are And when the coordinates of the center of the circle are known, 0 (X0, Y0), according to the distance from the center of the circle to any point on the circle is equal to the radius, select point A (X1, Y1), and use the distance formula between two points to calculate the radius Afterwards, the target fitting trajectory is uploaded to the database, the trajectory buffer data is corrected, and the trajectory to be processed is replaced with the target fitting trajectory.

[0106] Figure 6 A schematic diagram of the structure of a numerically controlled industrial processing device based on trajectory curve fitting provided by an embodiment of the present invention is shown in FIG. Figure 6As shown, the device includes: an acquisition unit 10, which is used to acquire the trajectory to be fitted and the processing mode based on the product type of the product to be processed, and to acquire the first trajectory coordinates of the trajectory to be fitted; a first processing unit 20, which is used to divide the trajectory to be fitted into multiple sub-segments based on the processing mode and the first trajectory coordinates; the multiple sub-segments are in a continuous state; a second processing unit 30, which is used to fit the multiple sub-segments to obtain a target fitting trajectory; a third processing unit 40, which is used to determine the type of the target fitting trajectory based on the second trajectory coordinates of the target fitting trajectory. An output unit 50 is used to perform CNC processing on the product to be processed based on the type of the target fitting trajectory.

[0107] Figure 7 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute a forward-looking speed planning method based on a continuous trajectory, the method comprising: obtaining a trajectory to be fitted and a processing mode based on the product type of the product to be processed, and obtaining a first trajectory coordinate of the trajectory to be fitted; dividing the trajectory to be fitted into a plurality of sub-segments based on the processing mode and the first trajectory coordinate; the plurality of sub-segments are in a continuous state; fitting the plurality of sub-segments to obtain a target fitting trajectory; determining the type of the target fitting trajectory based on the second trajectory coordinate of the target fitting trajectory; and performing numerical control processing on the product to be processed based on the type of the target fitting trajectory.

[0108] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and 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 methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0109] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by the computer, the computer can execute a forward-looking speed planning method based on a continuous trajectory provided by the above methods, and the method includes: obtaining a trajectory to be fitted and a processing mode based on the product type of the product to be processed, and obtaining a first trajectory coordinate of the trajectory to be fitted; dividing the trajectory to be fitted into multiple sub-segments based on the processing mode and the first trajectory coordinates; the multiple sub-segments are in a continuous state; fitting the multiple sub-segments to obtain a target fitting trajectory; determining the type of the target fitting trajectory based on the second trajectory coordinates of the target fitting trajectory; and performing CNC processing on the product to be processed based on the type of the target fitting trajectory. On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned forward-looking speed planning method based on a continuous trajectory, the method comprising: obtaining a trajectory to be fitted and a processing mode based on the product type of the product to be processed, and obtaining a first trajectory coordinate of the trajectory to be fitted; dividing the trajectory to be fitted into a plurality of sub-segments based on the processing mode and the first trajectory coordinates; the plurality of sub-segments are in a continuous state; fitting the plurality of sub-segments to obtain a target fitting trajectory; determining the type of the target fitting trajectory based on the second trajectory coordinates of the target fitting trajectory; and performing CNC machining on the product to be processed based on the type of the target fitting trajectory.

[0110] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A numerical control industrial processing method based on trajectory curve fitting, characterized in that: The following steps are involved: Acquire a trajectory to be fitted and a processing mode based on a product type of the product to be processed, and acquire a first trajectory coordinate of the trajectory to be fitted; Dividing the to-be-fitted trajectory into a plurality of sub-segments based on the processing mode and the first trajectory coordinates; the plurality of sub-segments are in a continuous state; Fitting a plurality of the sub-line segments to obtain a target fitting trajectory; Determining a type of the target fitting trajectory based on a second trajectory coordinate of the target fitting trajectory; The product to be processed is numerically controlled based on the type of the target fitting trajectory.

2. The numerical control industrial processing method based on trajectory curve fitting according to claim 1 is characterized in that: The step of fitting the plurality of sub-line segments to obtain a target fitting trajectory includes: The starting point coordinates of the first target sub-line segment among the plurality of sub-line segments are connected with the two end point coordinates of the second target sub-line segment among the plurality of sub-line segments to obtain a first angle; the first target sub-line segment is the first sub-line segment among the plurality of sub-line segments, and the second target sub-line segment is any other sub-line segment among the plurality of sub-line segments except the first sub-line segment; The coordinates of the starting point of the first target sub-line segment among the plurality of sub-line segments are connected with the coordinates of the two end points of the third target sub-line segment among the plurality of sub-line segments to obtain a second angle; the third target sub-line segment is any other sub-line segment among the plurality of sub-line segments except the first sub-line segment and the second sub-line segment, and the third target sub-line segment is continuous with the second target sub-line segment and is located after the second target sub-line segment; Obtaining an angle difference based on the first angle and the second angle; The plurality of sub-line segments are fitted based on the angle difference to obtain the target fitting trajectory.

3. The numerical control industrial processing method based on trajectory curve fitting according to claim 2 is characterized in that: The fitting of the plurality of sub-line segments based on the angle difference to obtain the target fitting trajectory includes: If the angle difference is less than or equal to a preset threshold, a first trend direction result between the current target sub-segment and the fourth target sub-segment, and a second trend direction result between the current target sub-segment and the fifth target sub-segment are determined; the current target sub-segment is any other sub-segment among the multiple sub-segments except the first sub-segment and the second sub-segment, the fourth target sub-segment is an adjacent sub-segment of the current target sub-segment, and the fifth target sub-segment is an alternate sub-segment of the current target sub-segment; If the first trend direction result is trend direction consistency and the second trend direction result is trend direction consistency, the current target sub-segment, the fourth target sub-segment and the fifth target sub-segment are connected until at least one of the first trend direction result and the second trend direction result is trend direction inconsistent, stop fitting and obtain the target fitting trajectory.

4. The numerical control industrial processing method based on trajectory curve fitting according to claim 2 is characterized in that: The step of connecting the starting point coordinates of the first target sub-segment among the plurality of sub-segments with the two end point coordinates of the second target sub-segment among the plurality of sub-segments to obtain the first angle includes: Based on the starting point coordinate x0 of the first target sub-segment, the i-th sub-segment x i and the i+1th sub-segment x in the second target sub-segment i+1 , determine the first angle; The calculation formula of the first angle is as follows: Among them, a i It is represented by the length between the end point of the i-th sub-segment in the second target sub-segment and the starting point coordinate x0 in the first target sub-segment, b i+1 It is represented by the length between the end point and the starting point x0 of the i+1th sub-segment in the second target sub-segment, c i+1 It is represented by the length of the i+1th sub-segment in the second target sub-segment.

5. The numerical control industrial processing method based on trajectory curve fitting according to claim 1 is characterized in that: The determining the type of the target fitting trajectory based on the second trajectory coordinates of the target fitting trajectory includes: Based on the first coordinate information, the second coordinate information and the third coordinate information in the second trajectory coordinates, a slope change result of the target fitting trajectory is obtained; the first coordinate information, the second coordinate information and the third coordinate information are coordinate information of different trajectory coordinate positions in the second trajectory coordinates; If the slope change result is a preset value, determining that the type of the target fitting trajectory is a straight line trajectory; If the slope change result is not the preset value, it is determined that the type of the target fitting trajectory is an arc trajectory.

6. The numerical control industrial processing method based on trajectory curve fitting according to claim 1 is characterized in that: The processing mode includes a first processing mode, wherein the first processing mode represents tool path planning along contour lines at the same height on the workpiece; The step of dividing the to-be-fitted trajectory into a plurality of sub-segments based on the processing mode and the first trajectory coordinates includes: If the processing mode is the first processing mode, the equation line corresponding to the ordinate of the first target trajectory coordinate point in the first trajectory coordinate is determined as a contour line; the first target trajectory coordinate point is any trajectory coordinate point in the first trajectory coordinate; Determine the vertical distance between each track coordinate point in the first track coordinate and the contour line; The to-be-fitted trajectory is divided into the plurality of sub-segments based on the Euclidean distance and the vertical distance between two adjacent trajectory coordinate points in the first trajectory coordinates.

7. The numerical control industrial processing method based on trajectory curve fitting according to claim 1 is characterized in that: The machining mode includes a second machining mode, wherein the second machining mode characterizes that the tool path is kept equidistant from the part contour; The step of dividing the to-be-fitted trajectory into a plurality of sub-segments based on the processing mode and the first trajectory coordinates includes: If the processing mode is the second processing mode, the first trajectory coordinate point in the first trajectory coordinate is used as the first reference trajectory coordinate point to determine the second target trajectory coordinate point in the first trajectory coordinate; a first sub-line segment is constructed based on the trajectory coordinate point between the first trajectory coordinate point and the second target trajectory coordinate point; the coordinate point distance between the second target trajectory coordinate point and the first trajectory coordinate point is equal to a preset spacing value; Taking the second target trajectory coordinate point as the second reference trajectory coordinate point, determining the third target trajectory coordinate point in the first trajectory coordinates; constructing a second sub-segment based on the trajectory coordinate points between the second target trajectory coordinate point and the third target trajectory coordinate point, until all trajectory coordinate points in the first trajectory coordinates are constructed as sub-segments to obtain the multiple sub-segments; the coordinate point distance between the third target trajectory coordinate point and the second target trajectory coordinate point is equal to the preset spacing value.

8. A numerical control industrial processing device based on trajectory curve fitting, characterized in that: include: An acquisition unit, used for acquiring a trajectory to be fitted and a processing mode based on a product type of a product to be processed, and acquiring a first trajectory coordinate of the trajectory to be fitted; A first processing unit is used to divide the trajectory to be fitted into a plurality of sub-segments based on the processing mode and the first trajectory coordinates; the plurality of sub-segments are in a continuous state; A second processing unit is used to fit the plurality of sub-line segments to obtain a target fitting trajectory; a third processing unit, configured to determine a type of the target fitting trajectory based on the second trajectory coordinates of the target fitting trajectory; An output unit is used to perform CNC machining on the product to be processed based on the type of the target fitting trajectory.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of a numerical control industrial machining method based on trajectory curve fitting as described in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a numerical control industrial machining method based on trajectory curve fitting as described in any one of claims 1 to 7 are implemented.

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