Path planning method and device for glass cutting machine

Abstract

The invention is suitable for the technical field of control systems, and provides a path planning method and device of a glass cutting machine, and the path planning method of the glass cutting machine comprises the following steps: obtaining cutting images input by a user and a plurality of preset superposition directions, carrying out image superposition, and counting the number of the cutting images; the superposition direction with the highest space utilization rate is selected, and the path planning efficiency is improved. The path planning is performed by selecting the maximum number of cut images, maximizing the utilization of the glass material and combining the tangent relation of the cut images, so that the precision of the cutting path is ensured, the path repetition or deviation is avoided, and the cutting quality is improved. The cutting head is controlled to move through automatic path planning, personal errors are reduced, the cutting process is optimized, precision is ensured, deviation is reduced, and stability and reliability are improved. According to the scheme, material waste in traditional cutting is effectively avoided. Through precise cut image superposition and tangent relation application, the technology improves the path planning efficiency and the cutting precision.

Description

Technical Field

[0001] The present invention belongs to the technical field of control systems, and particularly relates to a path planning method and device for a glass cutting machine. Background Art

[0002] In the modern glass cutting field, with the progress of technology and the diversification of application requirements, how to improve cutting accuracy, reduce waste, and improve cutting efficiency has become the focus of the industry. Most traditional glass cutting methods rely on manual operation and are easily affected by human factors, such as non-straight cutting lines, low cutting accuracy, and poor efficiency. Therefore, how to improve the accuracy and efficiency in the glass cutting process through automation technology has become an important research direction in current technology.

[0003] Currently, automated glass cutting technology mainly focuses on how to accurately position and plan the path of the glass to be cut. In existing technical solutions, generally, an image of the glass to be cut is obtained through a scanning or image acquisition device, and then computer vision technology is used to analyze information such as the shape and size of the glass surface. However, these existing technologies often have defects such as complex image processing, low path planning efficiency, and insufficient cutting accuracy. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a path planning method and device for a glass cutting machine to solve the technical problems that existing technologies often have complex image processing, low path planning efficiency, and insufficient cutting accuracy.

[0005] The first aspect of the embodiments of the present invention provides a path planning method for a glass cutting machine. The path planning method for the glass cutting machine includes:

[0006] Collect an image of the glass to be cut, and extract the target region image corresponding to the glass to be cut in the image of the glass to be cut;

[0007] Obtain the cutting image input by the user and multiple preset superposition directions, and extract the size data of the cutting image; where the angles between multiple preset superposition directions are equal first angles;

[0008] Based on multiple preset superposition directions and the size data, respectively perform superposition processing on the cutting image in the target region image, and count the current number of cutting images superimposed in the target region image for each preset superposition direction; where adjacent cutting images in the target region image are in a tangent relationship;

[0009] Obtain the image position of the cutting image corresponding to the maximum number of cutting images in the target region image;

[0010] Perform path planning based on the first tangent position between adjacent cutting images to obtain a target path;

[0011] Control the movement of the cutting head according to the target path

[0012] Further, the step of respectively performing superposition processing on the cutting images in the target region image based on the multiple preset superposition directions and the dimension data, and counting the current number of cutting images superposed in the target region image in each preset superposition direction includes:

[0013] Based on the multiple preset superposition directions and the width data in the dimension data, respectively perform superposition processing on the cutting images in the target region image, and count the number of first cutting images superposed in the target region image; wherein, the width data in the dimension data is parallel to the preset superposition direction;

[0014] Based on the multiple preset superposition directions and the length data in the dimension data, respectively perform superposition processing on the cutting images in the target region image, and count the number of second cutting images superposed in the target region image; wherein, the length data in the dimension data is parallel to the preset superposition direction.

[0015] Further, the step of respectively performing superposition processing on the cutting images in the target region image based on the multiple preset superposition directions and the width data in the dimension data, and counting the number of first cutting images superposed in the target region image includes:

[0016] Extract the first center point of the target region image;

[0017] Generate two parallel lines with a distance of the length data on both sides of the first center point of the target region image based on the first preset superposition direction; wherein, the distances between the two parallel lines and the first center point are equal;

[0018] Between the two parallel lines, sequentially superpose a plurality of first cutting images; wherein, each adjacent first cutting image is in a tangent relationship, the leftmost or rightmost first cutting image is tangent to the edge of the target region image, and the two edge points in the length direction of the first cutting image are tangent to the two parallel lines;

[0019] Based on the multiple first cutting images, superpose other cutting images in the remaining region of the target region image, and count the first quantity of the first cutting images and the other cutting images;

[0020] According to the superimposition rule of the target area image corresponding to the first preset superimposition direction, sequentially count the second quantity of the cutting images superimposed in the target area image in other preset superimposition directions.

[0021] Further, the step of obtaining the image position of the cutting image corresponding to the maximum number of cutting images in the target area image includes:

[0022] Extract the maximum quantity among the first quantity and multiple second quantities;

[0023] Obtain the preset superimposition direction corresponding to the maximum quantity, and generate multiple current directions within a preset angle with the preset superimposition direction corresponding to the maximum quantity as the midline; the second angle between the multiple current directions is less than the first angle; the preset angle is equal to twice the first angle;

[0024] According to the superimposition rule of the target area image corresponding to the first preset superimposition direction, sequentially count the third quantity of the cutting images superimposed in the target area image in multiple current directions;

[0025] Obtain the image position corresponding to the cutting image with the maximum third quantity superimposed in the target area image.

[0026] Further, the step of superimposing other cutting images on the remaining area in the target area image based on the multiple first cutting images and counting the first quantity of the first cutting images and the other cutting images includes:

[0027] Extract the second center points of adjacent first cutting images respectively, and calculate the perpendicular bisector between the two second center points;

[0028] Based on the preset constraint conditions, superimpose the first other cutting images on the perpendicular bisector respectively; the preset constraint conditions include the first preset constraint condition, the second preset constraint condition and the third preset constraint condition. The first preset constraint condition is that the length direction of the first other cutting image and the third center point of the first other cutting image coincide with the perpendicular bisector. The second preset constraint condition is that the first other cutting image is tangent to any one of the first cutting images in the adjacent first cutting images. The third preset constraint condition is that the first other cutting image does not intersect with the edge of the target area image;

[0029] Based on the superimposition strategy of the first other cutting images, superimpose the second other cutting images in the target area image;

[0030] Take the quantities of the first cutting images, the first other cutting images and the second other cutting images as the first quantity.

[0031] Further, the step of performing path planning based on the first tangent position between adjacent cutting images to obtain a target path includes:

[0032] Calculate the fourth center point of each image position, and connect the fourth center points in the stacking direction to obtain multiple center lines; wherein, the center lines are parallel to the stacking direction of the image positions;

[0033] Among the multiple center lines, extract the top-side center line; the top-side center line includes the uppermost center line or the lowermost center line;

[0034] Starting from the top-side center line, sequentially calculate the initial paths corresponding to each of the multiple center lines;

[0035] Connect the starting points of the initial paths corresponding to adjacent center lines to obtain a first path;

[0036] Connect the initial path corresponding to each center line and the target first path to obtain a second path; the target first path refers to the first path between the current center line and the next center line;

[0037] According to the arrangement order of the multiple center lines, sequentially connect the second paths corresponding to adjacent center lines to obtain the target path.

[0038] Further, the step of starting from the top-side center line and sequentially calculating the initial paths corresponding to each of the multiple center lines includes:

[0039] Obtain two edge cutting images located on the top-side center line; the two edge cutting images refer to the two outermost cutting images among all the cutting images located on the top-side center line;

[0040] Obtain the third tangent position between the edge cutting image and the edge of the target area image;

[0041] Obtain the first current adjacent cutting image of the edge cutting image corresponding to the third tangent position in the center line direction;

[0042] Obtain the fourth tangent position between the edge cutting image and the first current adjacent cutting image;

[0043] Obtain the second current adjacent cutting image of the first current adjacent cutting image in the center line direction;

[0044] Obtain the fifth tangent position between the first current adjacent cutting image and the second current adjacent cutting image;

[0045] Based on the tangent position acquisition strategy of the first current adjacent cutting image, obtain multiple sixth tangent positions corresponding to subsequent adjacent cutting images in the center line direction;

[0046] Calculate a first straight line formed by the fourth tangency position, the fifth tangency position, and a plurality of the sixth tangency positions;

[0047] Taking the fourth tangency position as the starting point and the farthest straight line intersection point as the ending point, use the continuous edge data located below the first straight line as the third path; the farthest straight line intersection point refers to the intersection point among all the intersection points of subsequent adjacent cutting images and the first straight line that is the farthest from the fifth tangency position; the continuous edge data refers to the edge data of a plurality of adjacent cutting images corresponding to the first straight line;

[0048] Taking the farthest straight line intersection point as the starting point and the fourth tangency position as the ending point, use the continuous edge data located above the first straight line as the fourth path;

[0049] Connect the third path and the fourth path to obtain the initial path.

[0050] The second aspect of the embodiments of the present invention provides a path planning device for a glass cutting machine, including:

[0051] An acquisition unit, configured to acquire an image of a glass to be cut and extract a target region image corresponding to the glass to be cut in the image of the glass to be cut;

[0052] A first acquisition unit, configured to acquire a cutting image input by a user and a plurality of preset stacking directions, and extract size data of the cutting image; wherein, the plurality of preset stacking directions have an equal first included angle between them;

[0053] A stacking unit, configured to perform stacking processing on the cutting image in the target region image respectively based on the plurality of preset stacking directions and the size data, and count the current number of cutting images stacked in the target region image for each preset stacking direction; wherein, adjacent cutting images in the target region image have a tangency relationship;

[0054] A second acquisition unit, configured to acquire the image position of the cutting image corresponding to the maximum number of cutting images in the target region image;

[0055] A planning unit, configured to perform path planning according to the first tangency position between adjacent cutting images to obtain a target path;

[0056] A control unit, configured to control the movement of a cutting head according to the target path.

[0057] The third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the path planning method for the glass cutting machine described in the first aspect above.

[0058] The fourth aspect of the embodiments of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the steps of the path planning method of the glass cutting machine described in the first aspect above.

[0059] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: By obtaining the cutting image input by the user and multiple preset overlay directions, overlaying the cutting images in the target area image based on this information, and counting the number of cutting images in the overlay result. This method effectively reduces the invalid calculations and the number of iterations in the path planning process, and improves the overall efficiency of path planning. By setting multiple preset overlay directions and selecting the maximum number of cutting images among the multiple preset overlay directions, the glass material is utilized to the maximum extent to cut out more products. And path planning is performed according to the tangency relationship of the cutting images in the target area image, ensuring that the cutting path has a high precision on the glass surface. The tangency relationship of the cutting images can effectively avoid unnecessary path repetition or deviation during the cutting process, ensure the precise movement of the cutting head, and improve the precision and quality of glass cutting. According to the obtained target path, controlling the movement of the cutting head can achieve an automated cutting operation, avoiding the errors caused by human intervention. At the same time, the accuracy of path planning enables the cutting head to move along the optimal path, reducing the possible deviations and abnormalities during the cutting process, and further enhancing the stability and reliability of the cutting process. Through precise path planning and cutting head control, the material waste caused by unoptimized paths or repeated movements in traditional cutting is avoided, the material utilization rate is improved, and the production cost is reduced. In summary, the technical solution improves the path planning efficiency and precision of the glass cutting machine by accurately overlaying the cutting images and reasonably using the tangency relationship. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of related technologies. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0061] Figure 1 Shows a schematic flowchart of a path planning method for a glass cutting machine provided by the present invention;

[0062] Figure 2 Shows a schematic diagram of a path planning device for a glass cutting machine provided by an embodiment of the present invention;

[0063] Figure 3The figure shows a schematic diagram of a terminal device provided by an embodiment of the present invention. Detailed implementation manners

[0064] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0065] The embodiments of the present invention provide a path planning method and device for a glass cutting machine to solve the technical problems that existing technologies often have complex image processing, low path planning efficiency, and insufficient cutting accuracy.

[0066] First of all, the present invention provides a path planning method for a glass cutting machine. Please refer to Figure 1 , Figure 1 The figure shows a schematic flowchart of a path planning method for a glass cutting machine provided by the present invention. As Figure 1 shown, the path planning method for the glass cutting machine may include the following steps:

[0067] Step 101: Collect an image of the glass to be cut, and extract the target area image corresponding to the glass to be cut in the image of the glass to be cut;

[0068] Obtain the image information of the glass to be cut through an image acquisition system, and identify the area to be cut (target area) in the image, so as to provide a basis for subsequent cutting planning. In this step, the glass to be cut is imaged by a high-definition camera device, and an image processing algorithm is used to identify the area to be cut in the image. This area is the target area that finally needs to be cut.

[0069] Step 102: Obtain the cutting image input by the user and multiple preset stacking directions, and extract the size data of the cutting image; wherein, the angles between the multiple preset stacking directions are equal first angles;

[0070] The user inputs a specific cutting image through the interface, and the cutting image represents the shape of the glass product that actually needs to be cut. In addition, the system will also obtain multiple preset stacking directions. Each stacking direction will be used to guide the stacking method of the cutting image in the target area. The angles between each stacking direction are equal. It can be understood that since multiple glass products need to be cut in the target area, it is necessary to stack the cutting images corresponding to the glass products in the target area image based on the preset stacking directions.

[0071] Step 103: Based on the multiple preset stacking directions and the size data, respectively perform stacking processing on the cutting images in the target area image, and count the number of current cutting images stacked in the target area image for each preset stacking direction; wherein, there is a tangency relationship between adjacent cutting images in the target area image;

[0072] Due to different stacking strategies, the material space utilization rate in the target area is different. Therefore, it is necessary to perform stacking processing based on the preset stacking directions and size data respectively, and then select a stacking strategy with a higher utilization rate.

[0073] In this stage, the system will perform separate stacking of the cutting images on the target area image according to multiple preset stacking directions until no more cutting images can be accommodated on the target area image.

[0074] Exemplarily, if the preset stacking directions include a first stacking direction, a second stacking direction, and a third stacking direction. The stacking process of the multiple preset stacking directions is as follows: Stack the cutting images in the target area image in the first stacking direction until no more cutting images can be accommodated, stack the cutting images in the target area image in the second stacking direction until no more cutting images can be accommodated, and stack the cutting images in the target area image in the third stacking direction until no more cutting images can be accommodated. Among them, there is a tangency relationship between adjacent cutting image data in the target area image. This condition requires that the cutting image data in the target area image have a tangency relationship with each other. That is to say, the edges of the image data should be closely connected without overlapping to avoid redundancy or inaccuracy of the cutting path and ensure good material space utilization.

[0075] Count the number of cutting image data stacked in each preset stacking direction. The purpose of this statistic is to evaluate the effectiveness of each direction, that is, which direction can maximize the coverage of the target area. Through the stacking processing, the system can evaluate the coverage effect of different stacking directions on the target area, thereby providing a basis for selecting the best direction for path planning. Among them, the specific stacking logic of the cutting images is as follows:

[0076] Specifically, step 103 specifically includes steps 1031 to 1033:

[0077] Step 1031: Based on the multiple preset stacking directions and the width data in the size data, respectively perform stacking processing on the cutting images in the target area image, and count the number of first cutting images stacked in the target area image; wherein, the width data in the size data is parallel to the preset stacking direction;

[0078] Specifically, step 1031 specifically includes steps A1 to A5:

[0079] Step A1: Extract the first center point of the target area image;

[0080] The first center point is the reference point for path planning, which ensures a consistent and symmetric distribution of the cutting images within the target area.

[0081] Step A2: Generate two parallel lines with a distance equal to the length data on both sides of the first center point of the target area image based on the first preset overlay direction; wherein, the distances between the two parallel lines and the first center point are equal;

[0082] Select a first preset overlay direction, which indicates the arrangement direction of the cutting images. The first preset overlay direction is a certain fixed angle direction. Then, generate two parallel lines on both sides of the center point of the target area image, and the distance between the two parallel lines is the length data of the cutting images, which is used to accommodate the cutting images in the length data direction subsequently.

[0083] Step A3: Stack a plurality of first cutting images in sequence between the two parallel lines; wherein, each adjacent pair of first cutting images is in a tangent relationship, the leftmost or rightmost first cutting image is tangent to the edge of the target area image, and the two edge points in the length direction of the first cutting image are tangent to the two parallel lines;

[0084] Stack a plurality of first cutting images in sequence between the two parallel lines. There is a tangent relationship between each pair of cutting images, that is, the edges of the cutting images are in close contact but do not overlap. By ensuring the tangent relationship between the cutting images, unnecessary overlaps can be avoided, maximizing the utilization of the space in the target area, thereby improving the cutting efficiency.

[0085] At the same time, the edge of the leftmost or rightmost cutting image is tangent to the edge of the target area image to ensure that the cutting images completely fill the target area. It can be understood that whether the cutting images are arranged from left to right or from right to left, the first cutting image needs to be tangent to the edge of the target area image. Therefore, at least one of the leftmost cutting image and the rightmost cutting image is tangent to the edge of the target area image.

[0086] Step A4: Based on the plurality of first cutting images, stack other cutting images in the remaining area of the target area image, and count the first quantity of the first cutting images and the other cutting images;

[0087] Part of the target area image has been covered by the first cutting images. Next, the system will stack other cutting images in the remaining area in the first preset overlay direction to try to cover the entire target area. The overlay logic of the other cutting images is as follows: Specifically, step A4 specifically includes steps A41 to A44:

[0088] Step A41: Extract the second center points of adjacent first cutting images respectively, and calculate the perpendicular bisector between the two second center points;

[0089] The perpendicular bisector is the perpendicular bisector of the line segment connecting these two second center points, and the perpendicular bisector will be used as the reference line for subsequent superposition of cutting images. By calculating the perpendicular bisector, a symmetric and balanced reference line is provided for subsequent superposition of cutting images. This can help ensure that the layout of the cutting images is neat and orderly.

[0090] Step A42: Based on preset constraint conditions, superimpose the first other cutting images onto the perpendicular bisector respectively; wherein, the preset constraint conditions include a first preset constraint condition, a second preset constraint condition, and a third preset constraint condition. The first preset constraint condition is that the length direction of the first other cutting image and the third center point of the first other cutting image coincide with the perpendicular bisector. The second preset constraint condition is that the first other cutting image is tangent to any one of the first cutting images in the adjacent first cutting images. The third preset constraint condition is that the first other cutting image does not intersect with the edge of the target area image;

[0091] First preset constraint condition: The length direction of the first other cutting image and the third center point of the first other cutting image must coincide with the perpendicular bisector. This means that the cutting image must be aligned based on the perpendicular bisector, and its center position matches the perpendicular bisector. Second preset constraint condition: The first other cutting image must be tangent to any one of the adjacent first cutting images. This means that there should be no gaps or overlaps between the edges of the cutting images, and they should be in close contact. Third preset constraint condition: The first other cutting image does not intersect with the edge of the target area image. This condition ensures that the cutting image does not exceed the boundary of the target area, avoiding the space outside the target area for the cutting image.

[0092] These constraint conditions ensure that the cutting images are correctly placed within the target area, avoiding situations such as overlap, exceeding the boundary, or uneven distribution, and ensuring that the cutting process is more accurate and stable.

[0093] Step A43: Based on the superposition strategy of the first other cutting images, superimpose the second other cutting images in the target area image;

[0094] On the first cutting side in the target area image Figure 1 Based on the superposition strategy (the superposition strategy refers to steps A41 to A42), superimpose the first other cutting images in a preset superposition direction. And based on the same superposition strategy (steps A41 to A42) on the basis of the first other cutting images, superimpose new cutting images, and repeat successively until the first cutting in the target area image Figure 1The side cannot accommodate the cut image. On the other side of the first cut image in the target area image, new cut images are continuously superimposed based on the superimposition strategy until the entire area of the target area image cannot accommodate the cut image. That is, step A43 is used to fill the target area image with cut images in the preset superimposition direction based on the superimposition strategy (the cut images do not intersect).

[0095] Step A44: Take the quantities of the first cut image, the first other cut images, and the second other cut images as the first quantity.

[0096] In this embodiment, the entire technical solution optimizes the layout of the cut images through a series of constraint conditions and superimposition strategies, ensuring close contact, symmetrical distribution, and non-exceedance of the boundary of the target area among the images. The execution of each step has its specific function, and finally, the layout effect of the overall cut images is obtained by counting the quantities of different cut images, providing a detailed analysis and optimization plan for the cutting work of the target area.

[0097] Step A5: Based on the superimposition rule of the target area image corresponding to the first preset superimposition direction, sequentially count the second quantities of the cut images superimposed in other preset superimposition directions in the target area image.

[0098] The superimposition rules of other preset superimposition directions for the cut images are the same as those of the first preset superimposition direction, only the difference lies in the directions. That is, each other preset superimposition direction sequentially executes steps A2 to A4, and counts the second quantities of the cut images superimposed in the target area image. By collecting the second quantities corresponding to each preset superimposition direction, the material utilization rate of each preset superimposition direction is evaluated. Among them, the larger the second quantity, the higher the material utilization rate.

[0099] In this embodiment, by extracting the first center point of the target region image and generating parallel lines on both sides of the center point based on the first preset overlay direction, a clear cutting region is formed. This method can accurately determine the position of the overlay region, providing a clear reference framework for the layout of the subsequent cutting images. At the same time, the overlay region of the cutting images remains symmetric, ensuring consistency and stability during the cutting process. A plurality of first cutting images are sequentially overlaid between the two parallel lines, and it is ensured that adjacent cutting images are tangent to each other. This tangent arrangement ensures seamless docking at the seams of the cutting images, avoiding path deviation or repeated movement caused by image misalignment or overlap during the cutting process, and improving the accuracy of the cutting path and the cutting efficiency. In addition, the leftmost or rightmost cutting image is tangent to the edge of the target region image, effectively utilizing the entire target region and avoiding material waste. By counting the number of first cutting images overlaid in the target region image and overlaying other cutting images in the remaining region, this solution can comprehensively understand the distribution of cutting images in the target region, providing accurate data support for path planning. According to these statistical results, the system can dynamically adjust the cutting path according to the specific conditions of the target region, further optimizing the cutting efficiency and avoiding unnecessary repeated cutting or waste of blank regions. Under each preset overlay direction, by counting the number of cutting images overlaid in each direction, the system can automatically select the optimal cutting path according to the size characteristics of the target region and the arrangement of the cutting images, further improving the efficiency and accuracy of the cutting process. By ensuring the tangent relationship between the cutting images and the precise positioning of the parallel lines, this solution effectively reduces the errors caused by path deviation or inaccurate cutting. In addition, using the statistical results to optimize the distribution of the cutting images can maximize the utilizable cutting area of the target region, reduce material waste, and lower production costs. This solution combines image data and preset directions to form an automated and intelligent cutting path planning system, which can calculate the best cutting path in the shortest time and accurately execute the cutting task through the control system. This process greatly reduces manual intervention, improves production efficiency, and enhances the adaptability and intelligent operation ability of the cutting machine. In summary, this technical solution significantly improves the path planning efficiency, accuracy, and material utilization rate of the glass cutting process through the precise analysis of the target region and the optimized overlay of the cutting images. Its flexible multi-directional overlay rules and precise statistical methods can effectively adapt to various cutting requirements, reduce errors and waste, and have a high level of automation and intelligence.

[0100] Step 1032: Based on the length data in the multiple preset overlay directions and the dimension data, respectively perform overlay processing on the cutting images in the target region image, and count the number of second cutting images overlaid in the target region image; wherein, the length data in the dimension data is parallel to the preset overlay direction;

[0101] The execution logic of step 1032 is similar to that of step 1031, which will not be elaborated here.

[0102] Step 1033: Take the maximum value of the first number of cut images or the second number of cut images as the current number of cut images.

[0103] In steps 1031 to 1033, the cut images in the target area image need to be stacked not only based on multiple preset stacking directions, but also in the width direction and the length direction (i.e., the arrangement orientation of the cut images).

[0104] For example: The preset stacking directions include a first preset stacking direction and a second preset stacking direction. The stacking processes are as follows: Stack on the target area image based on the first preset stacking direction and the width direction, and count the number of cut images on the target area image; Stack on the target area image based on the second preset stacking direction and the width direction, and count the number of cut images on the target area image; Stack on the target area image based on the first preset stacking direction and the length direction, and count the number of cut images on the target area image; Stack on the target area image based on the second preset stacking direction and the length direction, and count the number of cut images on the target area image.

[0105] After obtaining multiple numbers of cut images, select the maximum value among them as the current number of cut images. In this way, select the stacking direction with the highest space utilization rate and the arrangement orientation of the cut images.

[0106] Step 104: Obtain the image positions of the cut images corresponding to the maximum number of cut images in the target area image;

[0107] At this stage, the system will identify the direction that covers the most cut image data among the stacking directions and determine the exact positions of the cut image data in this direction. In other words, the system will find the optimal cutting area to ensure the maximum effective coverage of the cutting path. By determining the best positions of the cut images, the system can optimize the cutting path, reduce ineffective cutting, and improve the cutting efficiency.

[0108] Specifically, step 104 specifically includes steps 1041 to 1064:

[0109] Step 1041: Extract the maximum value among the first number and multiple second numbers;

[0110] Select the optimal cutting strategy by extracting the maximum value among them, that is, select the strategy with the largest number of cut images. This strategy will be used in the subsequent steps to locate and optimize the layout of the cut images in the target area. Selecting the strategy with the maximum number can ensure the use of the most cut images in the target area, thereby optimizing the space utilization rate.

[0111] Step 1042: Obtain the preset stacking direction corresponding to the maximum quantity, and take the preset stacking direction corresponding to the maximum quantity as the midline to generate multiple current directions within a preset angle; the second angle between the multiple current directions is smaller than the first angle; the preset angle is equal to twice the first angle.

[0112] Since there may be a stacking direction with higher space utilization near the preset stacking direction corresponding to the maximum quantity. Therefore, in order to search for a stacking direction with higher utilization, in this embodiment, a search is performed within a small range (i.e., within the preset angle). Taking the preset stacking direction corresponding to the maximum quantity as the reference and as the midline, multiple current directions are generated on both sides of this midline. And the angle between the current directions is much smaller than the angle between the preset stacking directions. By limiting the angular difference between the current directions to a smaller value, the layout of the cutting images can be adjusted more precisely, enabling the images to be arranged more closely within the target area.

[0113] By generating multiple current directions, the stacking method of the cutting images can be flexibly adjusted according to the preset angle range, so as to find the optimal layout of the cutting images.

[0114] Step 1043: Based on the stacking rule of the target area image corresponding to the first preset stacking direction, sequentially count the third quantity of the cutting images stacked in the target area image in multiple current directions.

[0115] According to the stacking rule corresponding to the first preset stacking direction (i.e., Steps 1031 to 1033), sequentially count the number of cutting images in multiple current directions. Each current direction represents a stacking strategy of the cutting images, and counting the number of cutting images under these strategies is the third quantity. By counting the number of cutting images in different current directions, the effectiveness and optimization space of each layout method can be evaluated.

[0116] Step 1044: Obtain the image position corresponding to the cutting image stacked in the target area image with the maximum third quantity.

[0117] Determining the final position of the cutting image is the key to the entire process, which can ensure that the maximum number of cutting images are reasonably and precisely laid out within the target area, thereby improving the cutting efficiency and accuracy.

[0118] In this embodiment, multiple current directions are generated in the preset stacking direction corresponding to the maximum number of cutting images, and it is ensured that the angle between these directions is less than the first angle and meets the requirement that the preset angle is twice the first angle. Through this optimized angle setting, this solution can provide a more refined cutting path selection. By counting the number of cutting images in multiple current directions, the system can accurately understand the image stacking situation in each current direction. According to the stacking rules of the target area images, this solution can efficiently calculate the number of cutting images in each current direction, thereby improving the space utilization rate of the cutting path planning. The maximum number of cutting images will become the core reference for path planning. This solution can dynamically count and adjust the arrangement of cutting images based on different current directions and the stacking rules in the target area images. This flexible path planning method can adapt to glass cutting tasks of different shapes, sizes, and complexities, ensuring the maximization of the number of cutting images while avoiding material waste and repeated movement of the cutting path caused by unreasonable arrangement. By statistically determining the image positions corresponding to the maximum number of cutting images, unnecessary waste and errors during the cutting process are avoided. In addition, the precise position selection of the cutting images enables the entire cutting process to cover the target area as much as possible, improving the material utilization rate and effectively reducing the production cost.

[0119] Step 105: Perform path planning based on the first tangency position between adjacent cutting images to obtain a target path;

[0120] This step is the core part of path planning. The system will calculate the optimal cutting path based on the tangency positions between adjacent cutting image data. The goal of path planning is to ensure that the cutting machine can perform cutting along an accurate trajectory during movement, while avoiding gaps or overlaps in the path to ensure the smooth progress of cutting. The specific logic of path planning is as follows:

[0121] Specifically, step 105 specifically includes steps 1051 to 1056:

[0122] Step 1051: Calculate the fourth center point of each image position, and connect the fourth center points in the stacking direction to obtain multiple center lines; wherein, the center lines are parallel to the stacking direction of the image positions;

[0123] By calculating the fourth center point of each image position and connecting these points in the stacking direction, a basic reference can be provided for subsequent path planning to ensure the directionality of path calculation. The center lines always follow the direction of the image layout during arrangement (i.e., the center lines are parallel to the stacking direction of the image positions). This parallel relationship ensures the consistency and rationality of path planning. Maintaining the parallel relationship between the center lines and the stacking direction can make the results of path planning conform to the actual layout of the image arrangement.

[0124] Step 1052: Among multiple centerlines, extract the top-side centerline; the top-side centerline includes the uppermost centerline or the lowermost centerline;

[0125] The top-side centerline refers to the uppermost or lowermost centerline. The uppermost centerline: refers to the topmost centerline in the vertically arranged images. The lowermost centerline: refers to the bottommost centerline in the vertical arrangement. The top-side centerline is regarded as the starting point of path planning to ensure that the path starts from the top (or bottom) of the image, facilitating the smooth connection of the path.

[0126] Step 1053: Starting from the top-side centerline, calculate the initial paths corresponding to multiple centerlines in sequence;

[0127] Among them, the initial path planning logic is as follows:

[0128] Specifically, Step 1053 specifically includes Steps B01 to B11:

[0129] Step B01: Obtain two edge-cutting images located on the top-side centerline; the two edge-cutting images refer to the two outermost edge-cutting images among all the cutting images located on the top-side centerline;

[0130] Among all the cutting images on this top-side centerline, it is necessary to identify the two outermost edge-cutting images. These two edge-cutting images refer to the cutting images located on the farthest two sides in the direction of the top-side centerline. Determining these two edge-cutting images is the starting point of path planning to ensure that the subsequent path starts from these edges and reasonably covers the entire area.

[0131] Step B02: Obtain the third tangency position between the edge-cutting image and the edge of the target area image;

[0132] Since the cutting starting position needs to start from the tangency position between the edge of the target area image and the edge-cutting image, it is necessary to obtain the third tangency position between the edge-cutting image and the edge of the target area image. It should be noted that among the two edge-cutting images, there may be one or multiple third tangency positions, and one third tangency position can be randomly selected, which is not limited here.

[0133] Step B03: Obtain the first current adjacent cutting image of the edge-cutting image corresponding to the third tangency position in the centerline direction;

[0134] The first current adjacent cutting image is the cutting image adjacent to the edge-cutting image and is located in the adjacent image in the centerline direction. Identifying the adjacent image of the current cutting image helps calculate the path between each image and its adjacent image.

[0135] Step B04: Obtain the fourth tangency position between the edge cutting image and the first current adjacent cutting image;

[0136] The fourth tangency position determines the path connection points between adjacent cutting images, providing constraints for subsequent path calculation.

[0137] Step B05: Obtain the second current adjacent cutting image of the first current adjacent cutting image in the center line direction;

[0138] Identify the second current adjacent cutting image of the first current adjacent cutting image in the center line direction. That is, continue to identify adjacent cutting images along the center line direction to find the next adjacent cutting image.

[0139] Step B06: Obtain the fifth tangency position between the first current adjacent cutting image and the second current adjacent cutting image;

[0140] Step B07: Based on the tangency position acquisition strategy of the first current adjacent cutting image, obtain multiple sixth tangency positions corresponding to subsequent adjacent cutting images in the center line direction;

[0141] The tangency position acquisition strategy of the first current adjacent cutting image is from Step B05 to Step B06. Based on the tangency position acquisition strategy, continue to identify adjacent cutting images along the center line direction until the tangency positions of all adjacent cutting images in the center line direction have been obtained.

[0142] Step B08: Calculate the first straight line formed by the fourth tangency position, the fifth tangency position, and multiple sixth tangency positions;

[0143] Connect the aforementioned tangency positions (the fourth, fifth, and sixth tangency positions) to form a first straight line. This straight line represents the direction of the path between each cutting image.

[0144] Step B09: Use the fourth tangency position as the starting point and the farthest straight line intersection point as the ending point, and take the continuous edge data located below the first straight line as the third path; the farthest straight line intersection point refers to the intersection point that is the farthest from the fifth tangency position among all intersection points of subsequent adjacent cutting images and the first straight line; the continuous edge data refers to the edge data of multiple adjacent cutting images corresponding to the first straight line;

[0145] Starting from the fourth tangency position, along the direction of the first straight line, find the intersection point that is the farthest from the fifth tangency position among all intersection points, which is called the farthest straight line intersection point. Collect the edge data of the cutting images located below the first straight line to form the third path. The third path ensures the extension of the path below the first straight line and covers the lower area of the image.

[0146] Step B10: Taking the farthest straight-line intersection point as the starting point and the fourth tangent position as the ending point, use the continuous edge data above the first straight line as the fourth path;

[0147] Starting from the farthest straight-line intersection point, along the upper side of the first straight line, collect the cutting image edge data above this straight line to form the fourth path. The fourth path covers the upper area on the first straight line and forms a complete path together with the third path.

[0148] Step B11: Connect the third path and the fourth path to obtain the initial path.

[0149] Finally, connect the third path and the fourth path to form a complete initial path. By connecting the third path and the fourth path, a complete path from the edge cutting image to the target area is obtained, ensuring the coherence and accuracy of the path.

[0150] It can be understood that Step B09 is used to find the lower half edges of multiple adjacent cutting images, and Step B10 is used to find the upper half edges of multiple adjacent cutting images. The overall path starts from the fourth tangent position, passes through the tangent positions between adjacent cutting images in the lower half edge, and then reaches the farthest straight-line intersection point. Then, starting from the farthest straight-line intersection point, it passes through the tangent positions between adjacent cutting images in the upper half edge and finally returns to the starting point of the fourth tangent position to complete the complete cutting path of the current center line (the entire column of cutting images).

[0151] In this embodiment, the technical solution provides an efficient and accurate path planning method by accurately calculating the tangent positions and generating continuous paths, which can effectively improve the cutting efficiency and cutting quality.

[0152] Step 1054: Connect the starting points of the initial paths corresponding to adjacent center lines to obtain the first path;

[0153] The first path is gradually established based on the initial paths. It connects the paths between the center line cutting images to form a coherent route. It can be understood that the path represented by each center line is the cutting path of a whole column of cutting images, and each column of cutting images needs to be connected to each other (wherein, the cutting images of adjacent columns need to be connected, and the cutting images of non-adjacent columns do not need to be connected) to form a coherent path planning.

[0154] Step 1055: Connect the initial path corresponding to each center line and the target first path to obtain the second path; the target first path refers to the first path between the current center line and the next center line;

[0155] For example: Suppose there are three centerlines. The first centerline corresponds to the initial path A and the target first path M. The second centerline corresponds to the initial path B and the target first path N. The second centerline corresponds to the initial path C and the target first path K. Connect the initial path A and the target first path M, connect the initial path B and the target first path N, and connect the initial path C and the target first path K.

[0156] Step 1056: Connect the second paths corresponding to adjacent centerlines in the arrangement order of the multiple centerlines to obtain the target path.

[0157] The target path is the final result of the entire path planning. It forms a complete and continuous path by successively connecting the second paths of each centerline. The second path of each centerline is a path that has been optimized and adjusted. By sequentially connecting these paths, a target path that conforms to the position of the cut image is obtained.

[0158] In this embodiment, by calculating the fourth center points of each image position and connecting the fourth center points according to the stacking direction, multiple center lines are obtained. This process ensures that the positions and arrangement patterns of the cutting images are accurately calculated, providing a clear reference framework for subsequent path planning. The generated center lines are parallel to the stacking direction of the images, and can accurately reflect the relative positions and arrangement rules of the cutting images, providing a stable geometric basis for path planning. Among the multiple calculated center lines, the top-side center line (including the uppermost or lowermost center line) is extracted as the starting position, further ensuring that the path planning starts from the optimal starting point. This method can effectively reduce the starting error of the path and provide a suitable reference line for the continuation of the subsequent path, thus ensuring the accuracy and smoothness of the path planning. Based on the top-side center line, the system sequentially calculates the initial path corresponding to each center line, and obtains the first path by connecting the starting points of the initial paths of adjacent center lines. This process realizes the smooth transition of the path, ensuring that there are no obvious breaks or angular mutations at the connection points between adjacent paths, thereby reducing the motion vibration during the cutting process and improving the stability and accuracy of the cutting machine. The initial path of each center line is connected to the target first path to form the second path. The target first path represents the path between the current center line and the next center line. This design of path connection realizes the continuity and smoothness of the path during the cutting process. By connecting the initial path of each center line to the target path, the system can automatically optimize the arrangement and motion sequence of the paths, effectively avoiding repeated cutting and ineffective motion caused by unreasonable path design, and improving the overall cutting efficiency. According to the arrangement order of the multiple center lines, the second paths corresponding to adjacent center lines are sequentially connected to finally obtain the target path. This method makes the generation of the cutting path have a clear logical order and hierarchy, avoiding chaos and uncertainty in path planning. By means of step-by-step connection, the cutting machine can operate according to the optimized path order, significantly improving the operation efficiency and cutting accuracy.

[0159] Step 106: Control the movement of the cutting head according to the target path.

[0160] After the path planning is completed, the system will control the movement of the cutting head according to the calculated target path. The cutting head will perform cutting operations along the target path to ensure that the glass is accurately cut into the required shape. By precisely controlling the movement of the cutting head, it is ensured that the finally cut glass meets the expected shape and accuracy.

[0161] In this embodiment, by obtaining the cutting images input by the user and a plurality of preset superposition directions, and based on this information, the cutting images in the target area image are superimposed, and the number of cutting images in the superimposition result is counted. This method effectively reduces the invalid calculations and the number of iterations in the path planning process, and improves the overall efficiency of path planning. By setting a plurality of preset superposition directions and selecting the maximum number of cutting images among the plurality of preset superposition directions, more products can be cut out by maximizing the utilization of the glass material. And path planning is performed according to the tangency relationship of the cutting images in the target area image, ensuring that the cutting path has a high accuracy on the glass surface. The tangency relationship of the cutting images can effectively avoid unnecessary path repetition or deviation during the cutting process, ensure the precise movement of the cutting head, and improve the accuracy and quality of glass cutting. According to the obtained target path, controlling the movement of the cutting head can achieve an automated cutting operation and avoid the errors caused by human intervention. At the same time, the accuracy of path planning enables the cutting head to move along the optimal path, reducing the possible deviations and abnormalities during the cutting process, and further improving the stability and reliability of the cutting process. Through precise path planning and cutting head control, the material waste caused by unoptimized paths or repeated movements in traditional cutting is avoided, the utilization rate of materials is improved, and the production cost is reduced. In summary, this technical solution improves the path planning efficiency and accuracy of the glass cutting machine by accurately superimposing the cutting images and reasonably using the tangency relationship.

[0162] As Figure 2 The present invention provides a path planning device for a glass cutting machine. Please refer to Figure 2 , Figure 2 which shows a schematic diagram of a path planning device for a glass cutting machine provided by the present invention. As Figure 2 shown, a path planning device for a glass cutting machine includes:

[0163] An acquisition unit 21, configured to acquire an image of the glass to be cut and extract a target area image corresponding to the glass to be cut in the image of the glass to be cut;

[0164] A first acquisition unit 22, configured to acquire the cutting images input by the user and a plurality of preset superposition directions, and extract the size data of the cutting images; wherein, the angles between the plurality of preset superposition directions are equal first angles;

[0165] A superposition unit 23, configured to respectively perform superposition processing on the cutting images in the target area image based on the plurality of preset superposition directions and the size data, and count the current number of cutting images superimposed in the target area image for each preset superposition direction; wherein, the adjacent cutting images in the target area image are in a tangency relationship;

[0166] A second acquisition unit 24, configured to acquire the image positions of the cutting images corresponding to the maximum number of cutting images in the target area image;

[0167] A planning unit 25, configured to perform path planning according to the first tangent positions between adjacent cutting images to obtain a target path;

[0168] A control unit 26, configured to control the movement of the cutting head according to the target path.

[0169] A path planning device for a glass cutting machine provided by the present invention superimposes cutting images in a target area image by acquiring the cutting images input by a user and a plurality of preset superimposing directions, and counts the number of cutting images in the superimposing result. This method effectively reduces the invalid calculations and the number of iterations in the path planning process, and improves the overall efficiency of path planning. By setting a plurality of preset superimposing directions and selecting the maximum number of cutting images among the plurality of preset superimposing directions, more products can be cut out by maximizing the utilization of glass materials. And path planning is performed according to the tangency relationship of the cutting images in the target area image, ensuring that the cutting path has a high precision on the glass surface. The tangency relationship of the cutting images can effectively avoid unnecessary path repetition or deviation during the cutting process, ensure the precise movement of the cutting head, and improve the precision and quality of glass cutting. According to the obtained target path, controlling the movement of the cutting head can realize an automated cutting operation and avoid the errors caused by human intervention. At the same time, the accuracy of path planning enables the cutting head to move along the optimal path, reducing the possible deviations and abnormalities during the cutting process, and further enhancing the stability and reliability of the cutting process. Through precise path planning and cutting head control, the material waste caused by unoptimized paths or repeated movements in traditional cutting is avoided, the utilization rate of materials is improved, and the production cost is reduced. In summary, the technical solution improves the path planning efficiency and precision of the glass cutting machine by accurately superimposing cutting images and reasonably using the tangency relationship.

[0170] Figure 3 is a schematic diagram of a terminal device provided by an embodiment of the present invention. As Figure 3 shown, a terminal device 3 in this embodiment includes: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30, such as a path planning program for a glass cutting machine. When the processor 30 executes the computer program 32, the steps in the above-mentioned embodiments of various path planning methods for a glass cutting machine are implemented, such as Figure 1 the steps 101 to 107 shown. Alternatively, when the processor 30 executes the computer program 32, the functions of each unit in the above-mentioned device embodiments are implemented, such as Figure 2 the functions of the units shown.

[0171] Exemplarily, the computer program 32 may be divided into one or more units, which are stored in the memory 31 and executed by the processor 30 to implement the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 32 in the terminal device 3. For example, the specific functions of the computer program 32 divided into each unit are as follows:

[0172] An acquisition unit, configured to acquire an image of the glass to be cut, and extract a target region image corresponding to the glass to be cut in the image of the glass to be cut;

[0173] A first acquisition unit, configured to acquire a cutting image input by a user and a plurality of preset stacking directions, and extract size data of the cutting image; wherein, an equal first angle is formed between the plurality of preset stacking directions;

[0174] A stacking unit, configured to perform stacking processing on the cutting image in the target region image respectively based on the plurality of preset stacking directions and the size data, and count the current number of cutting images stacked in the target region image for each preset stacking direction; wherein, an adjacent relationship between the cutting images in the target region image is a tangential relationship;

[0175] A second acquisition unit, configured to acquire an image position of the cutting image corresponding to the maximum number of cutting images in the target region image;

[0176] A planning unit, configured to perform path planning according to the first tangential position between the adjacent cutting images to obtain a target path;

[0177] A control unit, configured to control the movement of the cutting head according to the target path.

[0178] The terminal device includes, but is not limited to, a processor 30 and a memory 31. Those skilled in the art can understand that Figure 3 it is only an example of a terminal device 3, and does not constitute a limitation on a terminal device 3. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the terminal device may further include an input / output device, a network access device, a bus, etc.

[0179] The processor 30 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0180] The memory 31 may be an internal storage unit of the terminal device 3, such as a hard disk or memory of the terminal device 3. The memory 31 may also be an external storage device of the terminal device 3, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. equipped on the terminal device 3. Further, the memory 31 may also include both the internal storage unit and the external storage device of the terminal device 3. The memory 31 is used to store the computer program and other programs and data required by the roaming control device. The memory 31 may also be used to temporarily store the data that has been output or is to be output.

[0181] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution is prior or subsequent. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0182] It should be noted that the content such as information interaction and execution process between the above devices / units, due to being based on the same concept as the method embodiments of the present invention, for its specific functions and the technical effects brought, reference may be specifically made to the method embodiment part, and details are not described herein again.

[0183] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present invention. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0184] An embodiment of the present invention also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

[0185] An embodiment of the present invention provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the foregoing method embodiments when executed.

[0186] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present invention, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disc, etc.

[0187] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0188] Those of ordinary skill in the art will realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0189] In the embodiments provided by the present invention, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be electrical, mechanical or other forms.

[0190] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units. They can be located in one place or distributed to multiple network units.

[0191] It should be understood that when used in the specification of the present invention and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0192] It should also be understood that the term "and / or" used in the specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0193] As used in the specification of the present invention and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if it is determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once it is determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" according to the context.

[0194] In addition, in the description of the specification and the appended claims of the present invention, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0195] The reference to "one embodiment" or "some embodiments" in the description of the present invention means that a specific feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present invention. Thus, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprise", "include", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0196] The above-described embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A path planning method for a glass cutting machine, characterized in that: The path planning method of the glass cutting machine comprises: Acquire an image of glass to be cut, and extract an image of a target area corresponding to the glass to be cut from the image of glass to be cut; Acquire a cutting image and a plurality of preset superposition directions input by a user, and extract dimension data of the cutting image; wherein the plurality of preset superposition directions have equal first angles therebetween; Based on the plurality of preset superposition directions and the size data, the cutting images are respectively superimposed in the target area image, and the number of current cutting images superimposed in the target area image in each preset superposition direction is counted; wherein adjacent cutting images in the target area image are in a tangent relationship; Obtaining the image positions of the cutting images corresponding to the maximum number of cutting images in the target area image; Performing path planning according to the first tangent position between the adjacent cutting images to obtain a target path; The cutting head is controlled to move according to the target path.

2. The path planning method for a glass cutting machine according to claim 1, characterized in that: The step of respectively superimposing the cut images in the target area image based on the plurality of preset superimposition directions and the size data, and counting the number of current cut images superimposed in the target area image in each preset superimposition direction comprises: Based on the plurality of preset superposition directions and the width data in the size data, the cut images are respectively superimposed in the target area image, and the number of first cut images superimposed in the target area image is counted; wherein the width data in the size data is parallel to the preset superposition direction; Based on the plurality of preset superposition directions and the length data in the size data, the cutting images are respectively superimposed in the target area image, and the number of second cutting images superimposed in the target area image is counted; wherein the length data in the size data is parallel to the preset superposition direction; The maximum value of the first cutting image quantity or the second cutting image quantity is used as the current cutting image quantity.

3. The path planning method for a glass cutting machine as claimed in claim 2, characterized in that: The step of respectively superimposing the cut images in the target area image based on the plurality of preset superposition directions and the width data in the size data, and counting the number of first cut images superimposed in the target area image comprises: Extracting a first center point of the target area image; Based on a first preset superposition direction, two parallel lines having a distance equal to the length data are generated on both sides of the first center point of the target area image; wherein the distances between the two parallel lines and the first center point are equal; Multiple first cutting images are sequentially superimposed between the two parallel lines; wherein each adjacent first cutting image is in a tangent relationship, the leftmost or rightmost first cutting image is tangent to the edge of the target area image, and two edge points in the length direction of the first cutting image are tangent to the two parallel lines; Based on the multiple first cutting images, superimposing other cutting images in the remaining area of ​​the target area image, and counting a first number of the first cutting images and the other cutting images; Based on the superposition rule of the target area image corresponding to the first preset superposition direction, the second number of cut images superimposed in the target area image in other preset superposition directions is counted in sequence.

4. The path planning method for a glass cutting machine according to claim 1, characterized in that: The step of obtaining the image positions of the cutting images corresponding to the maximum number of cutting images in the target area image comprises: extracting a maximum number from a first number and a plurality of second numbers; Obtaining a preset stacking direction corresponding to the maximum number, and using the preset stacking direction corresponding to the maximum number as a center line, generating a plurality of current directions within a preset angle; the second angle between the plurality of current directions is smaller than the first angle; and the preset angle is equal to twice the first angle; Based on the superposition rule of the target area image corresponding to the first preset superposition direction, sequentially counting a third number of the cut images superimposed in the target area image in the current directions; The image positions corresponding to the maximum third number of cut images superimposed in the target area image are obtained.

5. The path planning method for a glass cutting machine as claimed in claim 3, characterized in that: The step of superimposing other cutting images on the remaining area in the target area image based on the multiple first cutting images and counting the first number of the first cutting images and the other cutting images includes: respectively extracting second center points of adjacent first cutting images, and calculating a perpendicular bisector between two of the second center points; Based on preset constraints, the first other cutting images are respectively superimposed on the perpendicular bisector; wherein the preset constraints include a first preset constraint, a second preset constraint and a third preset constraint, the first preset constraint is that the length direction of the first other cutting image and the third center point of the first other cutting image coincide with the perpendicular bisector, the second preset constraint is that the first other cutting image is tangent to any one of the adjacent first cutting images, and the third preset constraint is that the first other cutting image does not intersect with the edge of the target area image; Based on the superposition strategy of the first other cutting image, superimposing the second other cutting image in the target area image; The number of the first cutting image, the first other cutting image, and the second other cutting image is referred to as the first number.

6. The path planning method for a glass cutting machine according to claim 1, characterized in that: The step of performing path planning according to the first tangent position between the adjacent cutting images to obtain the target path comprises: Calculate the fourth center point of each image position, connect the fourth center points in the stacking direction, and obtain multiple center lines; wherein the center lines are parallel to the stacking direction of the image positions; Among the multiple center lines, extract the top center line; the top center line includes the uppermost center line or the lowermost center line; Starting from the top center line, initial paths corresponding to the multiple center lines are calculated in sequence; Connect the initial path starting points corresponding to adjacent center lines to obtain a first path; Connecting the initial path corresponding to each center line with the target first path to obtain a second path; the target first path refers to the first path between the current center line and the next center line; According to the arrangement order of the multiple center lines, the second paths corresponding to the adjacent center lines are connected in sequence to obtain the target path.

7. The path planning method for a glass cutting machine according to claim 6, characterized in that: The step of starting from the top side center line and sequentially calculating the initial paths corresponding to the multiple center lines comprises: Acquire two edge cutting images located on the top side center line; the two edge cutting images refer to the two edgemost cutting images among all the cutting images located on the top side center line; Obtaining a third tangent position between the edge of the edge cutting image and the edge of the target area image; Acquire a first current adjacent cutting image of the edge cutting image corresponding to the third tangent position in the center line direction; Acquire a fourth tangent position between the edge cutting image and the first current adjacent cutting image; Acquire a second current adjacent cutting image in the center line direction of the first current adjacent cutting image; Acquire a fifth tangent position between the first current adjacent cutting image and the second current adjacent cutting image; Based on the tangent position acquisition strategy of the first current adjacent cutting image, a plurality of sixth tangent positions corresponding to subsequent adjacent cutting images in the center line direction are acquired; Calculating a first straight line formed by the fourth tangent position, the fifth tangent position, and a plurality of the sixth tangent positions; Taking the fourth tangent position as the starting point and the farthest straight line intersection point as the end point, the continuous edge data located below the first straight line is used as the third path; the farthest straight line intersection point refers to the intersection point farthest from the fifth tangent position among all the intersection points of the subsequent adjacent cutting images and the first straight line; the continuous edge data refers to the edge data of multiple adjacent cutting images corresponding to the first straight line; Taking the farthest straight line intersection as the starting point and the fourth tangent position as the end point, the continuous edge data located on the upper side of the first straight line is taken as the fourth path; The third path and the fourth path are connected to obtain the initial path.

8. A path planning device for a glass cutting machine, characterized in that: The path planning device of the glass cutting machine comprises: An acquisition unit, used for acquiring an image of the glass to be cut, and extracting an image of a target area corresponding to the glass to be cut from the image of the glass to be cut; A first acquisition unit is used to acquire a cutting image and a plurality of preset superposition directions input by a user, and extract dimension data of the cutting image; wherein the plurality of preset superposition directions are equal first angles; A superposition unit, configured to superimpose the cutting images in the target area image respectively based on the plurality of preset superposition directions and the size data, and count the number of current cutting images superimposed in the target area image in each preset superposition direction; wherein adjacent cutting images in the target area image are in a tangent relationship; A second acquisition unit is used to acquire the image positions of the cutting images corresponding to the maximum number of cutting images in the target area image; A planning unit, configured to perform path planning according to the first tangent position between the adjacent cutting images to obtain a target path; The control unit is used to control the movement of the cutting head according to the target path.

9. A terminal device, characterized in that: The terminal device includes: a memory, a processor, and a path planning program for a glass cutting machine stored in the memory and executable on the processor, wherein the path planning program for the glass cutting machine is configured to implement the steps in the path planning method for the glass cutting machine as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps in the path planning method for a glass cutting machine as claimed in any one of claims 1 to 7 are implemented.

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