Dragging cutter compensation method, device and equipment based on discrete cutting path and medium

Abstract

The invention relates to a dragging cutter compensation method and device based on a discrete cutting path, equipment and a medium. The distance between a cutter shaft of a dragging cutter and a cutter tip is obtained to serve as the cutter offset distance, and in order to avoid burrs generated by controlling cutting of the cutter tip through the cutter shaft due to the cutter offset distance, a rotating cutter transition point is obtained in a cutting path according to a path transfer angle; the cutter point direction of the dragging cutter is rotated at each cutter rotating transition point position to enable the cutter point direction to be opposite to the direction of the cutting sub-path, the cutter point position is always kept corresponding to the cutting path, it is guaranteed that the cutting position does not deviate, the edge of a cut pattern is smooth, and the cutting speed can be increased.

Description

Technical Field

[0001] The present application relates to the field of cutting technology, and particularly to a drag knife tool compensation method, device, computer device, and storage medium based on a discrete cutting path. Background Art

[0002] With the continuous development of automated factories, automated production has also been popularized in the traditional cutting industry, which not only saves labor costs but also improves work efficiency. Currently, the production method of product labels is: label typesetting - sharing to a printer for printing - winding - placing on a cutting machine for cutting - winding and packing. It is the production of product labels completed by multiple devices and multiple processes. Among them, it is difficult to ensure the accuracy of cutting during the process of cutting the printed product labels by the cutting machine, resulting in burrs on the edges of the cutting graphics. Especially at large turning positions, the cutting position shifts due to the turning of the drag knife during cutting, and the cutting effect is poor. It is necessary to reduce the cutting speed to meet the production requirements. Summary of the Invention

[0003] Based on this, a drag knife tool compensation method, device, computer device, and storage medium based on a discrete cutting path are provided to solve the technical problems of difficult to ensure the accuracy of cutting, resulting in burrs on the edges of the cutting graphics, especially at large turning positions, the cutting position shifts due to the turning of the drag knife during cutting, the cutting effect is poor, and the cutting speed is low.

[0004] On the one hand, a drag knife tool compensation method based on a discrete cutting path is provided. The method includes:

[0005] Taking the plane where the cutting path is located as a reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple cutting sub - paths according to the path transition angle, taking the intersection point of two adjacent cutting sub - paths as a tool - changing transition point, and obtaining the coordinates of all tool - changing transition points;

[0006] Obtaining the coordinates of the tool axis of the drag knife in the coordinate system, and selecting the coordinates of the tool - changing transition point with the smallest distance from the coordinates of the tool axis as the initial cutting point of the drag knife on the cutting path;

[0007] Taking the distance between the tool axis and the tool tip of the drag knife as the tool offset, judging whether the drag knife has performed cutting. If so, obtaining the cut length. When the cut length is greater than one tool offset, taking the opposite direction of the cutting direction of the drag knife as the tool tip direction of the drag knife. Otherwise, judging that the tool tip direction of the drag knife is unknown, and controlling the drag knife to perform cutting for at least one tool offset outside the area enclosed by the cutting path;

[0008] In response to the known tip direction of the drag knife, the coordinates of the tip are obtained based on the coordinates of the tool axis and the tool offset, the tip of the drag knife is controlled to move above the initial tool dropping point, the cutting sub-paths successively passed by the drag knife when cutting the cutting path are determined, the drag knife is controlled to drop the tool and cut along the cutting path, and at each tool rotation transition point, the tip direction of the drag knife is rotated so that the tip direction is opposite to the direction of cutting the cutting sub-path.

[0009] In one embodiment, a coordinate system is constructed with the plane where the cutting path is located as a reference, a coordinate set of the cutting path is obtained, the cutting path is divided into multiple cutting sub-paths according to the path transfer angle, and the intersection point of two adjacent cutting sub-paths is used as the tool rotation transition point. Obtaining the coordinates of all tool rotation transition points includes:

[0010] Taking the plane where the cutting path is located as a reference, an X-axis and a Y-axis are set, the outer contour of the pre-cutting graphic is identified, the outer contour is used as the cutting path, and the coordinates of each point in the outer contour are arranged in sequence to form the coordinate set of the cutting path;

[0011] Connecting two adjacent points in the coordinate set to form a line segment, and obtaining the deflection angle between two adjacent line segments;

[0012] When the deflection angle is greater than the path transfer angle, the point corresponding to the deflection angle greater than the path transfer angle is used as a turning point, and the points on both sides of the turning point are respectively connected to form a cutting sub-path. The turning point is the intersection point of two adjacent cutting sub-paths, and the coordinates of the turning point are obtained as the coordinates of the tool rotation transition point.

[0013] In one embodiment, a coordinate system is constructed with the plane where the cutting path is located as a reference, a coordinate set of the cutting path is obtained, the cutting path is divided into multiple cutting sub-paths according to the path transfer angle, and the intersection point of two adjacent cutting sub-paths is used as the tool rotation transition point. Obtaining the coordinates of all tool rotation transition points further includes:

[0014] When the deflection angle is less than or equal to the path transfer angle, it is determined that the point corresponding to the deflection angle less than or equal to the path transfer angle is a non-turning point, and the continuous non-turning points are connected to form a cutting sub-path.

[0015] In one embodiment, when controlling the drag knife to cut at least one tool offset outside the area enclosed by the cutting path, taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0016] Obtain at least two tool offset drop points outside the area enclosed by the cutting path, control the tool axis of the drag tool to transfer to the drop point, control the drag tool to drop to the drop point and cut in the direction of the cutting path by one tool offset to reach the tool lift point, and control the drag tool to lift the tool at the tool lift point.

[0017] In one embodiment, when controlling the drag tool to cut at least one tool offset outside the area enclosed by the cutting path, taking the opposite direction of the cutting direction of the drag tool as the tool tip direction of the drag tool includes:

[0018] Taking the segment of the cutting sub-path where the initial drop point is located as a reference, extending the cutting sub-path outside the area enclosed by the cutting path, and selecting a point outside the area enclosed by the cutting path and at least two tool offsets on the extension line as the drop point;

[0019] When controlling the drag tool to drop to the drop point and cut in the direction of the cutting path by one tool offset to reach the tool lift point and then lift the tool, taking the opposite direction of the cutting direction of the drag tool along the extension line as the tool tip direction of the drag tool, and the tool tip is located on the extension line.

[0020] In one embodiment, when rotating the tool tip direction of the drag tool at each tool transition point so that the tool tip direction is opposite to the direction of cutting the cutting sub-path includes:

[0021] Obtain the deflection angle between two adjacent line segments at each tool transition point as the rotation angle of the tool tip direction of the drag tool;

[0022] Obtain the vector of the previous line segment when the drag tool cuts, obtain the vector of the next line segment when the drag tool cuts, and obtain the rotation direction of the tool tip direction of the drag tool according to the deflection direction between the vector of the previous line segment and the vector of the next line segment;

[0023] Control the drag tool to rotate at the tool transition point according to the rotation direction of the tool tip direction of the drag tool and the rotation angle of the tool tip direction of the drag tool so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0024] In one embodiment, the drag tool tool compensation method based on the discrete cutting path further includes:

[0025] Judge whether the drag tool sequentially passes through the cutting sub-paths of the cutting path to complete the cutting. If so, control the drag tool to lift the tool at the initial drop point.

[0026] On the other hand, a drag tool tool compensation device based on the discrete cutting path is provided. The device includes:

[0027] A coordinate management module, which is used to construct a coordinate system based on the plane where the cutting path is located, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transfer angle, use the intersection point of two adjacent cutting sub-paths as the tool-changing transition point, and obtain the coordinates of all tool-changing transition points;

[0028] An initial tool-down point selection module, which is used to obtain the coordinate of the tool axis of the drag tool in the coordinate system, and select the coordinate of the tool-changing transition point with the smallest distance from the coordinate of the tool axis as the initial tool-down point of the drag tool on the cutting path;

[0029] A tool tip direction determination module, which is used to use the distance between the tool axis and the tool tip of the drag tool as the tool offset, determine whether the drag tool has performed cutting, if so, obtain the cut length, when the cut length is greater than one tool offset, use the opposite direction of the cutting direction of the drag tool as the tool tip direction of the drag tool, otherwise determine that the tool tip direction of the drag tool is unknown, and control the drag tool to perform cutting outside the area surrounded by the cutting path for at least one tool offset;

[0030] A drag tool cutting control module, which is used to respond to the known tool tip direction of the drag tool, obtain the coordinate of the tool tip according to the coordinate of the tool axis and the tool offset, control the tool tip of the drag tool to move above the initial tool-down point, determine the cutting sub-paths that the drag tool sequentially passes through when cutting the cutting path, control the drag tool to lower the tool and perform cutting along the cutting path, and rotate the tool tip direction of the drag tool at each tool-changing transition point so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0031] In another aspect, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0032] Construct a coordinate system based on the plane where the cutting path is located, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transfer angle, use the intersection point of two adjacent cutting sub-paths as the tool-changing transition point, and obtain the coordinates of all tool-changing transition points;

[0033] Obtain the coordinate of the tool axis of the drag tool in the coordinate system, and select the coordinate of the tool-changing transition point with the smallest distance from the coordinate of the tool axis as the initial tool-down point of the drag tool on the cutting path;

[0034] Take the distance between the tool axis and the tool tip of the trailing tool as the tool offset, and determine whether the trailing tool has performed cutting. If so, obtain the cut length. When the cut length is greater than one tool offset, take the opposite direction of the cutting direction of the trailing tool as the tool tip direction of the trailing tool. Otherwise, determine that the tool tip direction of the trailing tool is unknown, and control the trailing tool to perform cutting by at least one tool offset outside the area enclosed by the cutting path.

[0035] In response to the known tool tip direction of the trailing tool, obtain the coordinates of the tool tip according to the coordinates of the tool axis and the tool offset, control the tool tip of the trailing tool to move above the initial cutting point, determine the cutting sub-paths that the trailing tool passes through in sequence when cutting the cutting path, control the trailing tool to cut and perform cutting along the cutting path, and rotate the tool tip direction of the trailing tool at each tool change transition point so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0036] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0037] Construct a coordinate system based on the plane where the cutting path is located, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transfer angle, take the intersection points of adjacent two cutting sub-paths as tool change transition points, and obtain the coordinates of all tool change transition points;

[0038] Obtain the coordinates of the tool axis of the trailing tool in the coordinate system, and select the coordinates of the tool change transition point with the smallest distance from the coordinates of the tool axis as the initial cutting point of the trailing tool on the cutting path;

[0039] Take the distance between the tool axis and the tool tip of the trailing tool as the tool offset, and determine whether the trailing tool has performed cutting. If so, obtain the cut length. When the cut length is greater than one tool offset, take the opposite direction of the cutting direction of the trailing tool as the tool tip direction of the trailing tool. Otherwise, determine that the tool tip direction of the trailing tool is unknown, and control the trailing tool to perform cutting by at least one tool offset outside the area enclosed by the cutting path.

[0040] In response to the known tool tip direction of the trailing tool, obtain the coordinates of the tool tip according to the coordinates of the tool axis and the tool offset, control the tool tip of the trailing tool to move above the initial cutting point, determine the cutting sub-paths that the trailing tool passes through in sequence when cutting the cutting path, control the trailing tool to cut and perform cutting along the cutting path, and rotate the tool tip direction of the trailing tool at each tool change transition point so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0041] The above-mentioned drag knife tool compensation method, device, computer device and storage medium based on discrete cutting paths obtain the distance between the tool axis and the tool tip of the drag knife as the tool offset. To avoid burrs generated by controlling the tool tip to cut through the tool axis due to the tool offset, the tool transition points are obtained according to the path transition angle in the cutting path, and at each tool transition point position, the tool tip direction of the drag knife is rotated so that the tool tip direction is opposite to the direction of the cutting sub-path of the cutting, always keeping the tool tip position corresponding to the cutting path, ensuring that the cutting position does not shift, the edge of the cut pattern is smooth, and the cutting speed can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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 the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0043] Figure 1 It is an application schematic diagram of the prior art in the process of using a drag knife to cut a pattern, where the cutting position shifts due to the turning of the drag knife during cutting at a large turning angle;

[0044] Figure 2 It is a flowchart of the drag knife tool compensation method based on discrete cutting paths in an embodiment of the present application;

[0045] Figure 3 It is a schematic diagram of the rectangular tool falling point and tool leaving point in an embodiment of the present application;

[0046] Figure 4 It is a schematic diagram of the rectangular middle corner transition point in an embodiment of the present application;

[0047] Figure 5 It is a structural block diagram of the drag knife tool compensation device based on discrete cutting paths in an embodiment of the present application;

[0048] Figure 6 It is an internal structure diagram of a computer device in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] In order to make the objectives, technical solutions and advantages of the present application clearer, the following further details the present application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] As described in the background art, during the process of using a drag knife to cut a pattern, at large turning positions, due to the turning of the drag knife during cutting, the cutting position shifts, making it difficult to ensure the accuracy of cutting. This results in burrs on the edges of the cut pattern, poor cutting effects, and low cutting speeds. Here, a large turning angle refers to a situation where the turning angle is greater than 5 degrees.

[0051] As Figure 1 shown, the drag knife is in a sheet shape. The drag knife includes a tool axis and a tool tip. The tool axis refers to the axis center of the tool's movement. When using the drag knife to cut a pattern, the tool axis is driven to drive the tool tip to slide on the paper to cut the paper for cutting. During the cutting process, the tool axis is in the front and the tool tip is in the back. Figure 1 In, when the drag knife moves from position 1 to position 2, it completes a large turning angle turn of a right angle. The drag knife realizes vertical movement at position 1, and the tool axis drags the tool tip to move downward. The drag knife realizes horizontal movement at position 2, where the distance from the tool axis to the tool tip is the tool offset.

[0052] As Figure 1 shown, during the movement of the tool, the dotted line represents the possible movement trajectory of the tool tip relative to the tool axis. When position 1 changes to position 2, the tool tip will move along with the tool axis, and the tool tip will rotate to keep the line connecting the tool tip and the tool axis consistent with the movement direction. Eventually, the line connecting the tool tip and the tool axis will be consistent with the movement direction. Therefore, during the process of position 1 changing to position 2, due to the rotation of the tool tip, the right-angle cutting method will change to a curved surface arc cutting, and the cutting path is based on the change of the tool axis movement speed. As a result, there are burrs on the edges of the cut pattern, leading to poor cutting effects. To ensure the cutting effect, the cutting speed needs to be reduced.

[0053] To solve the above problems, as Figure 2 shown, a drag knife tool compensation method based on a discrete cutting path is provided, including the following steps:

[0054] Step S1: Construct a coordinate system based on the plane where the cutting path is located, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transfer angle, take the intersection point of two adjacent cutting sub-paths as the tool turning transition point, and obtain the coordinates of all tool turning transition points;

[0055] Step S2: Obtain the coordinates of the tool axis of the drag knife in the coordinate system, and select the coordinates of the tool turning transition point with the smallest distance from the coordinates of the tool axis as the initial tool dropping point of the drag knife on the cutting path;

[0056] Step S3: Take the distance between the tool axis and the tool tip of the drag tool as the tool offset, and determine whether the drag tool has performed cutting. If so, obtain the cut length. When the cut length is greater than one tool offset, take the direction opposite to the cutting direction of the drag tool as the tool tip direction of the drag tool. Otherwise, determine that the tool tip direction of the drag tool is unknown, and control the drag tool to perform cutting by at least one tool offset outside the area enclosed by the cutting path.

[0057] Step S4: In response to the known tool tip direction of the drag tool, obtain the coordinates of the tool tip according to the coordinates of the tool axis and the tool offset, control the tool tip of the drag tool to move above the initial tool drop point, determine the cutting sub-paths sequentially passed by the drag tool when cutting the cutting path, control the drag tool to drop the tool and perform cutting along the cutting path, and rotate the tool tip direction of the drag tool at each tool change transition point so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0058] Among them, the term tool compensation refers to the meaning of rotating the tool tip direction of the drag tool at each tool change transition point, rather than performing another cutting. When rotating the tool tip direction of the drag tool, with the tool tip as the center and the tool offset as the radius, control the tool axis to rotate along an arc to adjust the tool tip direction. After the tool is lowered, it will move along with the moving axis and correct the tool tip direction along with the moving direction.

[0059] In this embodiment, taking the plane where the cutting path is located as the reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple cutting sub-paths according to the path transfer angle, and taking the intersection point of two adjacent cutting sub-paths as the tool change transition point. Obtaining the coordinates of all tool change transition points includes:

[0060] Set the X-axis and Y-axis with the plane where the cutting path is located as the reference, identify the outer contour of the pre-cut pattern, take the outer contour as the cutting path, and obtain the coordinates of each point in the outer contour and arrange them in order to form the coordinate set of the cutting path;

[0061] Connect two adjacent points in the coordinate set to form a line segment, and obtain the deflection angle between two adjacent line segments;

[0062] When the deflection angle is greater than the path transfer angle, take the point corresponding to the deflection angle greater than the path transfer angle as the turning point. Connect the points on both sides of the turning point to form cutting sub-paths respectively. The turning point is the intersection point of two adjacent cutting sub-paths, and obtain the coordinates of the turning point as the coordinates of the tool change transition point.

[0063] It can be understood that in the coordinate system, the coordinates of the tool axis and the tool tip of the drag tool are located on the Z-axis.

[0064] In this embodiment, constructing a coordinate system based on the plane where the cutting path is located, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple cutting sub-paths according to the path transfer angle, and taking the intersection point of two adjacent cutting sub-paths as the tool-changing transition point, obtaining the coordinates of all tool-changing transition points further includes:

[0065] When the deflection angle is less than or equal to the path transfer angle, determining the point where the deflection angle is less than or equal to the path transfer angle as a non-turning point, and connecting consecutive non-turning points to form a cutting sub-path.

[0066] In this embodiment, controlling the drag knife to cut at least one tool offset outside the area enclosed by the cutting path, and taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0067] Obtaining the tool drop points of at least two tool offsets outside the area enclosed by the cutting path, controlling the tool axis of the drag knife to transfer to the tool drop points, controlling the drag knife to drop to the tool drop points and cut one tool offset in the direction of the cutting path to reach the tool lift point, and controlling the drag knife to lift the knife at the tool lift point.

[0068] In this embodiment, controlling the drag knife to cut at least one tool offset outside the area enclosed by the cutting path, and taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0069] Taking the cutting sub-path where the initial tool drop point is located as a reference, making an extension line of the cutting sub-path outside the area enclosed by the cutting path, and selecting a point outside the area enclosed by the cutting path with at least two tool offsets on the extension line as the tool drop point;

[0070] When controlling the drag knife to drop to the tool drop point and cut one tool offset in the direction of the cutting path to reach the tool lift point and then lift the knife, taking the opposite direction of the cutting direction of the drag knife along the extension line as the tip direction of the drag knife, and the tip is located on the extension line.

[0071] Specifically, such as Figure 3As shown in the figure, taking the area enclosed by the cutting path as a rectangle as an example, in the prior art, cutting starts from the tool tip point of the original path. The cutting path cuts from the tool tip point of the original path towards point 2 or point 3. At this time, the tool tip direction of the drag knife is unknown. When the tool tip direction is not opposite to the cutting direction, there will be an included angle. When this included angle is greater than 5 degrees, it will cause the tool tip direction to rotate until it is opposite to the cutting direction, resulting in burrs on the edge of the cut figure and poor cutting effect. In this application, the tool tip point of the original path can be used as the initial tool tip point. When the tool tip direction of the drag knife is known, the tool tip of the drag knife can be directly controlled to move to the position of the initial tool tip point, and it is determined that the drag knife cuts the cutting path from the tool tip point of the original path towards point 2 or towards point 3. The tool tip direction of the drag knife is rotated so that the tool tip direction is opposite to the direction of cutting the cutting sub-path. Specifically, the change of the tool axis coordinate position is controlled while the tool tip coordinate position remains unchanged to achieve the rotation of the tool tip direction. The drag knife is controlled to drop the tool and cut along the cutting path. When the tool tip direction of the drag knife is unknown, if the drag knife cuts the cutting path from the tool tip point of the original path towards point 2, the extension line from the tool tip point of the original path to point 2 is obtained. The extension line is outside the rectangular area enclosed by the cutting path. At least one point of the tool offset is selected as the tool tip point. The tool axis of the drag knife is controlled to move to the tool tip point and cut towards point 2. When the tool is lifted after cutting one tool offset to reach the tool lift point, the tool tip direction and position can be determined. The opposite direction of the cutting direction of the drag knife along the extension line is used as the tool tip direction of the drag knife. The tool tip is located on the extension line, and the coordinate of the tool tip can be obtained based on the coordinate of the tool axis and the tool offset. The tool tip of the drag knife is controlled to move along the extension line to the tool tip point of the original path and then drop the tool, and then the drag knife is controlled to cut towards point 2. At this time, the tool tip direction of the drag knife can also be rotated 90 degrees towards the direction opposite to point 3, and the drag knife is controlled to cut towards point 3. When the tool tip direction of the drag knife is rotated 90 degrees towards the direction opposite to point 3, the tool tip is always directly above the tool tip point of the original path after dropping the tool. Only the tool axis needs to be rotated from point 2 to point 3.

[0072] It can be understood that the tool tip direction can also be determined by dragging the tool tip by the tool axis to cut two tool offsets, which is more accurate. For example Figure 3As shown, point 1 is the tool dropping point. The distance from point 1 to the tool lifting point is one tool offset. The distance from the tool lifting point to the tool dropping point of the original path is one tool offset. The distance from the tool dropping point of the original path to point 2 is one tool offset. When the tool is dragged to point 1, the position of the tool tip is unknown. When it moves to point 2, the line connecting the tool axis and the tool tip coincides with the moving direction, and thus the position of the tool tip can be determined at the tool dropping point of the original path. When the tool is dragged from point 1 to point 2, the part cut by the tool tip is outside the rectangle and does not affect the cutting. The significance of dragging the tool from point 1 to point 2 is to correct the relative position between the tool tip and the tool axis through this movement under the condition of unknown relative position of the tool tip to the tool axis, so as to obtain the tool tip direction for subsequent cutting.

[0073] In this embodiment, the step of rotating the tool tip direction of the dragged tool at each tool path transition point so that the tool tip direction is opposite to the direction of cutting the cutting sub-path includes:

[0074] Obtaining the deflection angle between two adjacent line segments at each tool path transition point as the rotation angle of the tool tip direction of the dragged tool;

[0075] Obtaining the vector of the previous line segment before the dragged tool performs cutting, obtaining the vector of the next line segment after the dragged tool performs cutting, and obtaining the rotation direction of the tool tip direction of the dragged tool according to the deflection direction between the vector of the previous line segment and the vector of the next line segment;

[0076] Controlling the dragged tool to rotate at the tool path transition point according to the rotation direction of the tool tip direction of the dragged tool and the rotation angle of the tool tip direction so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0077] It can be understood that when rotating the tool tip direction of the dragged tool at each tool path transition point, the rotation of the tool tip direction is realized in the way of tool lifting, rotation, and tool dropping.

[0078] Specifically, as Figure 4 shown, taking the area enclosed by the cutting path as a rectangle as an example, the tool tip behind the tool axis realizes cutting, mainly by controlling the tool tip path through the tool axis to realize the closed-loop cutting of the cutting path. When reaching the large angle in the middle, such as the second point of the original path is a right-angle corner, controlling the extended length of the tool axis path to be one tool offset, so that the tool axis reaches point 4. At this time, the tool tip just reaches the second point of the original path, and the cutting of the first line segment of the right-angle turning path of the rectangle is completed. Then, with the tool tip position as the center, the tool axis is rotated from point 4 to point 5 to avoid large-angle tool lifting. And so on, the cutting of the remaining rectangle path is completed.

[0079] After the cutting of the last side is completed, the tool axis is as shown in Figure 3Lift the tool at the indicated tool-lifting point to complete the cutting of the first rectangular contour. When cutting the next rectangular contour, since the direction of the tool tip has been determined, calculate to find a point in the next contour such that the vector angle formed by the vector of this point and its next point differs from the vector angle of the tool tip direction by ±5 degrees, and use this as the entry point of this contour. By automatically finding the entry point, the operation of the extension line can be reduced and the cutting speed can be increased.

[0080] It should be noted that since the tool offset of the drag tool is relatively small, generally less than 1 mm, when facing the cutting of special shapes, the above method can also meet the cutting effect.

[0081] In this embodiment, the drag tool compensation method based on the discrete cutting path further includes:

[0082] Judge whether the drag tool completes the cutting by sequentially passing through the cutting sub-paths of the cutting path. If so, control the drag tool to lift the tool at the initial tool-drop point.

[0083] In the above drag tool compensation method based on the discrete cutting path, by obtaining the distance between the tool axis and the tool tip of the drag tool as the tool offset, in order to avoid the burrs generated by controlling the tool tip to cut through the tool axis, obtain the tool-changing transition points according to the path transition angle in the cutting path, and at each tool-changing transition point position, rotate the tool tip direction of the drag tool so that the tool tip direction is opposite to the direction of the cutting sub-path of the cutting, always keeping the tool tip position corresponding to the cutting path, ensuring that the cutting position does not shift, the edge of the cut graphic is smooth, and the cutting speed can be improved.

[0084] In one embodiment, as Figure 5 shown, a drag tool compensation device 10 based on the discrete cutting path is provided, including: a coordinate management module 1, an initial tool-drop point selection module 2, a tool tip direction determination module 3, and a drag tool cutting control module 4.

[0085] The coordinate management module 1 is used to construct a coordinate system based on the plane where the cutting path is located, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transition angle, use the intersection point of two adjacent cutting sub-paths as the tool-changing transition point, and obtain the coordinates of all tool-changing transition points.

[0086] The initial tool-drop point selection module 2 is used to obtain the coordinates of the tool axis of the drag tool in the coordinate system, and select the coordinates of the tool-changing transition point with the smallest distance from the coordinates of the tool axis as the initial tool-drop point of the drag tool on the cutting path.

[0087] The tool tip direction determination module 3 is used to take the distance between the tool axis of the drag tool and the tool tip as the tool offset, determine whether the drag tool has been cut, and if so, obtain the cut length. When the cut length is greater than one tool offset, the opposite direction of the cutting direction of the drag tool is taken as the tool tip direction of the drag tool. Otherwise, it is determined that the tool tip direction of the drag tool is unknown, and the drag tool is controlled to cut at least one tool offset outside the area enclosed by the cutting path.

[0088] The drag tool cutting control module 4 is used to respond to the known tool tip direction of the drag tool, obtain the coordinates of the tool tip according to the coordinates of the tool axis and the tool offset, control the tool tip of the drag tool to move above the initial tool drop point, determine the cutting sub-paths that the drag tool cuts through the cutting path in sequence, control the drag tool to drop the tool and cut along the cutting path, and rotate the tool tip direction of the drag tool at each tool rotation transition point so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0089] In this embodiment, taking the plane where the cutting path is located as a reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple cutting sub-paths according to the path transfer angle, and taking the intersection point of two adjacent cutting sub-paths as the tool rotation transition point. Obtaining the coordinates of all tool rotation transition points includes:

[0090] Taking the plane where the cutting path is located as a reference to set the X-axis and Y-axis, identifying the outer contour of the pre-cut pattern, taking the outer contour as the cutting path, and obtaining the coordinates of each point in the outer contour and arranging them in order to form the coordinate set of the cutting path;

[0091] Connecting two adjacent points in the coordinate set to form a line segment, and obtaining the deflection angle between two adjacent line segments;

[0092] When the deflection angle is greater than the path transfer angle, the point corresponding to the deflection angle greater than the path transfer angle is taken as the turning point, and the points on both sides of the turning point are respectively connected to form a cutting sub-path. The turning point is the intersection point of two adjacent cutting sub-paths, and the coordinates of the turning point are obtained as the coordinates of the tool rotation transition point.

[0093] In this embodiment, taking the plane where the cutting path is located as a reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple cutting sub-paths according to the path transfer angle, and taking the intersection point of two adjacent cutting sub-paths as the tool rotation transition point. Obtaining the coordinates of all tool rotation transition points further includes:

[0094] When the deflection angle is less than or equal to the path transfer angle, determine the point where the deflection angle is less than or equal to the path transfer angle as a non-turning point, and connect consecutive non-turning points to form a cutting sub-path.

[0095] In this embodiment, when controlling the drag knife to cut at least one tool offset outside the area enclosed by the cutting path, taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0096] Obtain the tool drop points of at least two tool offsets outside the area enclosed by the cutting path, control the tool axis of the drag knife to transfer to the tool drop points, control the drag knife to drop to the tool drop points and cut one tool offset in the direction of the cutting path to reach the tool lift point, and control the drag knife to lift the knife at the tool lift point.

[0097] In this embodiment, when controlling the drag knife to cut at least one tool offset outside the area enclosed by the cutting path, taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0098] Taking a section of the cutting sub-path where the initial tool drop point is located as a reference, extend the cutting sub-path outside the area enclosed by the cutting path, and select a point of at least two tool offsets outside the area enclosed by the cutting path on the extension line as the tool drop point;

[0099] When controlling the drag knife to drop to the tool drop point and cut one tool offset in the direction of the cutting path to reach the tool lift point and then lift the knife, take the opposite direction of the cutting direction of the drag knife along the extension line as the tip direction of the drag knife, and the tip is located on the extension line.

[0100] In this embodiment, when rotating the tip direction of the drag knife at each tool turning transition point so that the tip direction is opposite to the direction of cutting the cutting sub-path includes:

[0101] Obtain the deflection angle between two adjacent line segments at each tool turning transition point as the rotation angle of the tip direction of the drag knife;

[0102] Obtain the vector of the previous line segment when the drag knife cuts, obtain the vector of the next line segment when the drag knife cuts, and obtain the rotation direction of the tip direction of the drag knife according to the deflection direction between the vector of the previous line segment and the vector of the next line segment;

[0103] Control the drag knife to rotate at the tool turning transition point according to the rotation direction of the tip direction of the drag knife and the rotation angle of the tip direction of the drag knife so that the tip direction is opposite to the direction of cutting the cutting sub-path.

[0104] In this embodiment, the drag knife tool compensation method based on a discrete cutting path further includes:

[0105] Determine whether the drag knife has completed cutting in sequence through the cutting sub-paths of the cutting path. If so, control the drag knife to lift the knife at the initial knife-down point.

[0106] In the above drag knife tool compensation device based on a discrete cutting path, by obtaining the distance between the tool axis and the tool tip of the drag knife as the tool offset, to avoid burrs generated by controlling the tool tip to cut through the tool axis, the tool change transition point is obtained according to the path transition angle in the cutting path. At each tool change transition point position, the tool tip direction of the drag knife is rotated so that the tool tip direction is opposite to the direction of the cutting sub-path of the cut, always keeping the tool tip position corresponding to the cutting path, ensuring that the cutting position does not shift, the edge of the cut graphic is smooth, and the cutting speed can be improved.

[0107] For the specific limitations of the drag knife tool compensation device based on a discrete cutting path, reference can be made to the limitations of the drag knife tool compensation method based on a discrete cutting path in the above text, which will not be elaborated here. Each module in the above drag knife tool compensation device based on a discrete cutting path can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the computer device in the form of hardware or independent of it, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0108] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor implements the following steps:

[0109] Construct a coordinate system with the plane where the cutting path is located as the reference, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transition angle, use the intersection point of two adjacent cutting sub-paths as the tool change transition point, and obtain the coordinates of all tool change transition points;

[0110] Obtain the coordinates of the tool axis of the drag knife in the coordinate system, and select the coordinates of the tool change transition point with the smallest distance from the coordinates of the tool axis as the initial knife-down point of the drag knife on the cutting path;

[0111] Use the distance between the tool axis and the tool tip of the drag knife as the tool offset, determine whether the drag knife has performed cutting. If so, obtain the cut length. When the cut length is greater than one tool offset, use the opposite direction of the cutting direction of the drag knife as the tool tip direction of the drag knife. Otherwise, if it is determined that the tool tip direction of the drag knife is unknown, control the drag knife to cut at least one tool offset outside the area enclosed by the cutting path;

[0112] In response to the known direction of the tip of the drag knife, the coordinates of the tip are obtained based on the coordinates of the tool axis and the tool offset, the tip of the drag knife is controlled to move above the initial cutting point, the cutting sub-paths successively passed by the drag knife cutting the cutting path are determined, the drag knife is controlled to drop the knife and cut along the cutting path, and at each tool transition point, the direction of the tip of the drag knife is rotated so that the direction of the tip is opposite to the direction of cutting the cutting sub-path.

[0113] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0114] Taking the plane where the cutting path is located as a reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple cutting sub-paths according to the path transfer angle, taking the intersection point of two adjacent cutting sub-paths as the tool transition point, and obtaining the coordinates of all tool transition points, including:

[0115] Taking the plane where the cutting path is located as a reference to set the X-axis and Y-axis, identifying the outer contour of the pre-cut pattern, taking the outer contour as the cutting path, and obtaining the coordinates of each point in the outer contour and arranging them in order to form the coordinate set of the cutting path;

[0116] Connecting two adjacent points in the coordinate set to form a line segment, and obtaining the deflection angle between two adjacent line segments;

[0117] When the deflection angle is greater than the path transfer angle, the point corresponding to the deflection angle greater than the path transfer angle is taken as the turning point, the points on both sides of the turning point are respectively connected to form a cutting sub-path, the turning point is the intersection point of two adjacent cutting sub-paths, and the coordinates of the turning point are obtained as the coordinates of the tool transition point.

[0118] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0119] Taking the plane where the cutting path is located as a reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple cutting sub-paths according to the path transfer angle, taking the intersection point of two adjacent cutting sub-paths as the tool transition point, and obtaining the coordinates of all tool transition points further includes:

[0120] When the deflection angle is less than or equal to the path transfer angle, it is determined that the point corresponding to the deflection angle less than or equal to the path transfer angle is a non-turning point, and the continuous non-turning points are connected to form a cutting sub-path.

[0121] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0122] Controlling the drag knife to cut at least one of the tool offsets outside the area enclosed by the cutting path, and taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0123] Obtain the tool drop points of at least two of the tool offsets outside the area enclosed by the cutting path, control the tool axis of the drag knife to transfer to the tool drop point, control the drag knife to drop to the tool drop point and cut one of the tool offsets in the direction of the cutting path to reach the tool lift point, and control the drag knife to lift at the tool lift point.

[0124] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0125] Controlling the drag knife to cut at least one of the tool offsets outside the area enclosed by the cutting path, and taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0126] Taking a section of the cutting sub-path where the initial tool drop point is located as a reference, extending the cutting sub-path outside the area enclosed by the cutting path, and selecting a point of at least two of the tool offsets outside the area enclosed by the cutting path on the extension line as the tool drop point;

[0127] When controlling the drag knife to drop to the tool drop point and cut one of the tool offsets in the direction of the cutting path to reach the tool lift point, lift the knife, and take the opposite direction of the cutting direction of the drag knife along the extension line as the tip direction of the drag knife, and the tip is located on the extension line.

[0128] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0129] The rotation of the tip direction of the drag knife at each tool transition point position so that the tip direction is opposite to the direction of cutting the cutting sub-path includes:

[0130] Obtain the deflection angle between two adjacent line segments at each tool transition point position as the rotation angle of the tip direction of the drag knife;

[0131] Obtain the vector of the previous line segment when the drag knife cuts, obtain the vector of the next line segment when the drag knife cuts, and obtain the rotation direction of the tip direction of the drag knife according to the deflection direction between the vector of the previous line segment and the vector of the next line segment;

[0132] Control the drag knife to rotate at the tool transition point position according to the rotation direction of the tip direction of the drag knife and the rotation angle of the tip direction of the drag knife so that the tip direction is opposite to the direction of cutting the cutting sub-path.

[0133] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0134] The drag knife tool compensation method based on a discrete cutting path further includes:

[0135] Determine whether the drag knife sequentially passes through the cutting sub-paths of the cutting path to complete cutting. If so, control the drag knife to lift the knife at the initial tool drop point.

[0136] For the specific limitations on the steps implemented when the computer program is executed by the processor, reference can be made to the limitations on the method of drag knife tool compensation based on a discrete cutting path in the above text, which will not be elaborated here.

[0137] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 6 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store drag knife tool compensation data based on a discrete cutting path. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a drag knife tool compensation method based on a discrete cutting path.

[0138] Those skilled in the art can understand that Figure 6 the structure shown in

[0139] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0140] Build a coordinate system with the plane where the cutting path is located as the reference, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transfer angle, use the intersection points of adjacent two cutting sub-paths as tool change transition points, and obtain the coordinates of all tool change transition points;

[0141] Obtain the coordinates of the tool axis of the dragging tool in the coordinate system, and select the coordinates of the tool-changing transition point with the smallest distance from the coordinates of the tool axis as the initial cutting point of the dragging tool on the cutting path;

[0142] Take the distance between the tool axis and the tool tip of the dragging tool as the tool offset, and determine whether the dragging tool has performed cutting. If so, obtain the cut length. When the cut length is greater than one tool offset, take the opposite direction of the cutting direction of the dragging tool as the tool tip direction of the dragging tool. Otherwise, determine that the tool tip direction of the dragging tool is unknown, and control the dragging tool to perform cutting outside the area enclosed by the cutting path for at least one tool offset;

[0143] In response to the known tool tip direction of the dragging tool, obtain the coordinates of the tool tip according to the coordinates of the tool axis and the tool offset, control the tool tip of the dragging tool to move above the initial cutting point, determine the cutting sub-paths sequentially passed by the dragging tool when cutting the cutting path, control the dragging tool to lower the tool and perform cutting along the cutting path, and rotate the tool tip direction of the dragging tool at each tool-changing transition point so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0144] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0145] Construct a coordinate system with the plane where the cutting path is located as the reference, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transfer angle, and take the intersection point of two adjacent cutting sub-paths as the tool-changing transition point. Obtaining the coordinates of all tool-changing transition points includes:

[0146] Set the X-axis and Y-axis with the plane where the cutting path is located as the reference, identify the outer contour of the pre-cut pattern, take the outer contour as the cutting path, and obtain the coordinates of each point in the outer contour and arrange them in order to form the coordinate set of the cutting path;

[0147] Connect two adjacent points in the coordinate set to form a line segment, and obtain the deflection angle between two adjacent line segments;

[0148] When the deflection angle is greater than the path transfer angle, take the point corresponding to the deflection angle greater than the path transfer angle as the turning point, connect the points on both sides of the turning point to form cutting sub-paths respectively. The turning point is the intersection point of two adjacent cutting sub-paths, and obtain the coordinates of the turning point as the coordinates of the tool-changing transition point.

[0149] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0150] Taking the plane where the cutting path is located as a reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple cutting sub-paths according to the path transfer angle, and taking the intersection point of two adjacent cutting sub-paths as the tool-changing transition point, obtaining the coordinates of all tool-changing transition points further includes:

[0151] When the deflection angle is less than or equal to the path transfer angle, determining the point where the deflection angle is less than or equal to the path transfer angle as a non-turning point, and connecting consecutive non-turning points to form a cutting sub-path.

[0152] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0153] When controlling the drag knife to cut at least one tool offset outside the area enclosed by the cutting path, taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0154] Obtaining the tool-down points of at least two tool offsets outside the area enclosed by the cutting path, controlling the tool axis of the drag knife to transfer to the tool-down points, controlling the drag knife to tool down to the tool-down points and cut one tool offset in the direction towards the cutting path to reach the tool-lift point, and controlling the drag knife to lift the knife at the tool-lift point.

[0155] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0156] When controlling the drag knife to cut at least one tool offset outside the area enclosed by the cutting path, taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0157] Taking the cutting sub-path where the initial tool-down point is located as a reference, extending the cutting sub-path outside the area enclosed by the cutting path, and selecting a point outside the area enclosed by the cutting path with at least two tool offsets on the extension line as the tool-down point;

[0158] When controlling the drag knife to tool down to the tool-down point and cut one tool offset in the direction towards the cutting path to reach the tool-lift point and then lift the knife, taking the opposite direction of the cutting direction of the drag knife along the extension line as the tip direction of the drag knife, and the tip is located on the extension line.

[0159] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0160] When rotating the tip direction of the drag knife at each tool-changing transition point so that the tip direction is opposite to the direction of cutting the cutting sub-path includes:

[0161] Obtain the deflection angle between two adjacent segments at each tool change transition point as the rotation angle of the tool tip direction of the dragging tool;

[0162] Obtain the vector of the previous segment before the dragging tool performs cutting, obtain the vector of the next segment after the dragging tool performs cutting, and obtain the rotation direction of the tool tip direction of the dragging tool according to the deflection direction between the vector of the previous segment and the vector of the next segment;

[0163] Control the dragging tool to rotate at the tool change transition point according to the rotation direction of the tool tip direction of the dragging tool and the rotation angle of the tool tip direction, so that the tool tip direction is opposite to the direction of cutting the cutting sub-path.

[0164] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0165] The dragging tool cutter radius compensation method based on the discrete cutting path further includes:

[0166] Judge whether the dragging tool sequentially passes through the cutting sub-paths of the cutting path to complete cutting. If so, control the dragging tool to lift the tool at the initial tool drop point.

[0167] For the specific limitations on the steps implemented when the processor executes the computer program, reference can be made to the limitations on the method of the dragging tool cutter radius compensation based on the discrete cutting path in the above text, which will not be elaborated here.

[0168] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0169] Construct a coordinate system with the plane where the cutting path is located as the reference, obtain the coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transfer angle, take the intersection point of two adjacent cutting sub-paths as the tool change transition point, and obtain the coordinates of all tool change transition points;

[0170] Obtain the coordinates of the tool axis of the dragging tool in the coordinate system, and select the coordinates of the tool change transition point with the smallest distance from the coordinates of the tool axis as the initial tool drop point of the dragging tool on the cutting path;

[0171] Take the distance between the tool axis and the tool tip of the dragging tool as the tool offset. Judge whether the dragging tool has performed cutting. If so, obtain the cut length. When the cut length is greater than one tool offset, take the opposite direction of the cutting direction of the dragging tool as the tool tip direction of the dragging tool. Otherwise, it is determined that the tool tip direction of the dragging tool is unknown, and the dragging tool is controlled to perform cutting for at least one tool offset outside the area enclosed by the cutting path;

[0172] In response to the known tip direction of the drag knife, the coordinates of the tip are obtained based on the coordinates of the tool axis and the tool offset, the tip of the drag knife is controlled to move above the initial cutting point, the cutting sub-paths successively passed by the drag knife when cutting the cutting path are determined, the drag knife is controlled to drop the knife and cut along the cutting path, and at each tool rotation transition point, the tip direction of the drag knife is rotated so that the tip direction is opposite to the direction of cutting the cutting sub-path.

[0173] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0174] Taking the plane where the cutting path is located as a reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple segments of cutting sub-paths according to the path transfer angle, taking the intersection point of two adjacent segments of cutting sub-paths as the tool rotation transition point, and obtaining the coordinates of all tool rotation transition points includes:

[0175] Taking the plane where the cutting path is located as a reference to set the X-axis and Y-axis, identifying the outer contour of the pre-cut pattern, taking the outer contour as the cutting path, and obtaining the coordinates of each point in the outer contour and arranging them in order to form the coordinate set of the cutting path;

[0176] Connecting two adjacent points in the coordinate set to form a line segment, and obtaining the deflection angle between two adjacent line segments;

[0177] When the deflection angle is greater than the path transfer angle, taking the point corresponding to the deflection angle greater than the path transfer angle as the turning point, connecting the points on both sides of the turning point to form the cutting sub-path respectively, the turning point is the intersection point of two adjacent segments of cutting sub-paths, and obtaining the coordinates of the turning point as the coordinates of the tool rotation transition point.

[0178] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0179] Taking the plane where the cutting path is located as a reference to construct a coordinate system, obtaining the coordinate set of the cutting path, dividing the cutting path into multiple segments of cutting sub-paths according to the path transfer angle, taking the intersection point of two adjacent segments of cutting sub-paths as the tool rotation transition point, and obtaining the coordinates of all tool rotation transition points further includes:

[0180] When the deflection angle is less than or equal to the path transfer angle, determining the point corresponding to the deflection angle less than or equal to the path transfer angle as a non-turning point, and connecting the continuous non-turning points to form the cutting sub-path.

[0181] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0182] Controlling the drag knife to cut at least one of the tool offsets outside the area enclosed by the cutting path, and taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0183] Obtain the tool drop points of at least two of the tool offsets outside the area enclosed by the cutting path, control the tool axis of the drag knife to transfer to the tool drop point, control the drag knife to drop to the tool drop point and cut one of the tool offsets in the direction of the cutting path to reach the tool lift point, and control the drag knife to lift the knife at the tool lift point.

[0184] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0185] Controlling the drag knife to cut at least one of the tool offsets outside the area enclosed by the cutting path, and taking the opposite direction of the cutting direction of the drag knife as the tip direction of the drag knife includes:

[0186] Taking a segment of the cutting sub-path where the initial tool drop point is located as a reference, extending the cutting sub-path outside the area enclosed by the cutting path, and selecting a point outside the area enclosed by the cutting path that is at least two of the tool offsets on the extension line as the tool drop point;

[0187] When controlling the drag knife to drop to the tool drop point and cut one of the tool offsets in the direction of the cutting path to reach the tool lift point and then lift the knife, taking the opposite direction of the cutting direction of the drag knife along the extension line as the tip direction of the drag knife, and the tip is located on the extension line.

[0188] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0189] The rotation of the tip direction of the drag knife at each tool transition point position so that the tip direction is opposite to the direction of cutting the cutting sub-path includes:

[0190] Obtain the deflection angle of two adjacent line segments at each tool transition point position as the rotation angle of the tip direction of the drag knife;

[0191] Obtain the vector of the previous line segment when the drag knife cuts, obtain the vector of the next line segment when the drag knife cuts, and obtain the rotation direction of the tip direction of the drag knife according to the deflection direction of the vector of the previous line segment and the vector of the next line segment;

[0192] Control the drag knife to rotate at the tool transition point position according to the rotation direction of the tip direction of the drag knife and the rotation angle of the tip direction of the drag knife so that the tip direction is opposite to the direction of cutting the cutting sub-path.

[0193] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0194] The drag tool compensation method based on a discrete cutting path further includes:

[0195] Determine whether the drag tool completes cutting by sequentially passing through the cutting sub-paths of the cutting path. If so, control the drag tool to lift the tool at the initial tool drop point.

[0196] For the specific limitations on the steps implemented when the computer program is executed by the processor, reference can be made to the limitations on the method of drag tool compensation based on a discrete cutting path in the above text, which will not be elaborated here.

[0197] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0198] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0199] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for dragging a knife to compensate for a cut based on a discrete cutting path, characterized in that: include: A coordinate system is constructed based on the plane where the cutting path is located, a coordinate set of the cutting path is obtained, the cutting path is divided into multiple cutting sub-paths according to the path transfer angle, the intersection of two adjacent cutting sub-paths is used as a knife transition point, and the coordinates of all knife transition points are obtained; Acquire the coordinates of the tool axis of the drag knife in the coordinate system, and select the coordinates of the tool rotation transition point with the smallest distance from the coordinates of the tool axis as the initial landing point of the drag knife on the cutting path; The distance between the blade axis and the blade tip of the drag knife is used as the blade offset to determine whether the drag knife has performed cutting. If so, the cut length is obtained. When the cut length is greater than one of the blade offsets, the opposite direction of the cutting direction of the drag knife is used as the blade tip direction of the drag knife. Otherwise, it is determined that the blade tip direction of the drag knife is unknown, and the drag knife is controlled to perform cutting outside the area enclosed by the cutting path by at least one of the blade offsets. In response to the known direction of the tool tip of the drag knife, the coordinates of the tool tip are obtained according to the coordinates of the tool axis and the tool offset, the tool tip of the drag knife is controlled to transfer to just above the initial tool drop point, the cutting sub-paths that the drag knife passes through in sequence to cut the cutting path are determined, the drag knife is controlled to drop the knife and cut along the cutting path, and the direction of the tool tip of the drag knife is rotated at each tool rotation transition point so that the direction of the tool tip is opposite to the direction of cutting the cutting sub-path.

2. The method for dragging a knife to compensate for a cut based on a discrete cutting path according to claim 1, characterized in that: The coordinate system is constructed based on the plane where the cutting path is located, the coordinate set of the cutting path is obtained, the cutting path is divided into multiple cutting sub-paths according to the path transfer angle, the intersection of two adjacent cutting sub-paths is used as the knife transition point, and the coordinates of all the knife transition points are obtained, including: The X-axis and Y-axis are set based on the plane where the cutting path is located, the outer contour of the pre-cutting pattern is identified, the outer contour is used as the cutting path, and the coordinates of each point in the outer contour are obtained and arranged in order to form a coordinate set of the cutting path; Connect two adjacent points in the coordinate set to form a line segment, and obtain the deflection angle of two adjacent line segments; When the deflection angle is greater than the path transfer angle, the point where the deflection angle is greater than the path transfer angle is taken as the turning point, and the points on both sides of the turning point are connected to form a cutting sub-path. The turning point is the intersection of two adjacent cutting sub-paths, and the coordinates of the turning point are obtained as the coordinates of the rotary cutter transition point.

3. The method for dragging a knife to compensate for a cut based on a discrete cutting path according to claim 2, characterized in that: The coordinate system is constructed based on the plane where the cutting path is located, a coordinate set of the cutting path is obtained, the cutting path is divided into multiple cutting sub-paths according to the path transfer angle, and the intersection of two adjacent cutting sub-paths is used as a knife transition point. The coordinates of all knife transition points are obtained, and the following steps are further included: When the deflection angle is less than or equal to the path transfer angle, the point corresponding to the deflection angle being less than or equal to the path transfer angle is determined as a non-turning point, and continuous non-turning points are connected to form a cutting sub-path.

4. The method for dragging a knife to compensate for a cut based on a discrete cutting path according to claim 1, characterized in that: Controlling the drag knife to cut at least one of the knife offsets outside the area enclosed by the cutting path, and taking the opposite direction of the cutting direction of the drag knife as the knife tip direction of the drag knife includes: Obtain at least two knife landing points of the knife offset outside the area enclosed by the cutting path, control the knife axis of the dragging knife to transfer to the knife landing point, control the dragging knife to land at the knife landing point and cut one of the knife offsets in the direction of the cutting path to reach the knife lifting point, and control the dragging knife to lift the knife at the knife lifting point.

5. The method for dragging a knife to compensate for a cut based on a discrete cutting path according to claim 4, characterized in that: Controlling the drag knife to cut at least one of the knife offsets outside the area enclosed by the cutting path, and taking the opposite direction of the cutting direction of the drag knife as the knife tip direction of the drag knife includes: Taking a section of the cutting sub-path where the initial cutting point is located as a reference, extending the cutting sub-path toward the outside of the area enclosed by the cutting path, and selecting a point on the extension line that is at least two of the knife offsets outside the area enclosed by the cutting path as the cutting point; The drag knife is controlled to drop to the knife drop point and cut in the direction of the cutting path by a knife offset to reach the knife lift point, and the opposite direction of the cutting direction of the drag knife along the extension line is used as the tip direction of the drag knife, and the tip of the knife is located on the extension line.

6. The method for dragging a knife to compensate for a cut based on a discrete cutting path according to claim 2, characterized in that: The step of rotating the tip of the drag knife at each rotary knife transition point so that the tip of the drag knife is in the opposite direction to the direction of cutting the cutting sub-path comprises: Obtaining the deflection angle of two adjacent line segments at each transition point of the rotary cutter as the rotation angle of the tip of the drag cutter; Obtaining a vector of a line segment before the drag knife cuts, obtaining a vector of a line segment after the drag knife cuts, and obtaining a rotation direction of the tip of the drag knife according to the deflection directions of the vector of the previous line segment and the vector of the next line segment; According to the rotation direction and the rotation angle of the blade tip of the drag knife, the drag knife is controlled to rotate at the blade transition point so that the direction of the blade tip is opposite to the direction of cutting the cutting sub-path.

7. The method for dragging a knife to compensate for a cut based on a discrete cutting path according to claim 1, characterized in that: Also includes: It is determined whether the drag knife has completed cutting by sequentially passing through the cutting sub-paths of the cutting path. If so, the drag knife is controlled to lift the knife at the initial knife landing point.

8. A knife-dragging compensation device based on discrete cutting paths, characterized in that: The device comprises: A coordinate management module is used to construct a coordinate system based on the plane where the cutting path is located, obtain a coordinate set of the cutting path, divide the cutting path into multiple cutting sub-paths according to the path transfer angle, use the intersection of two adjacent cutting sub-paths as a knife transition point, and obtain the coordinates of all knife transition points; An initial cutter point selection module is used to obtain the coordinates of the tool axis of the drag tool in the coordinate system, and select the coordinates of the tool rotation transition point with the smallest coordinate distance from the tool axis as the initial cutter point of the drag tool on the cutting path; a knife tip direction determination module, configured to use the distance between the knife axis and the knife tip of the drag knife as a knife offset to determine whether the drag knife has performed cutting, and if so, to obtain the cut length, and when the cut length is greater than one of the knife offsets, to use the opposite direction of the cutting direction of the drag knife as the knife tip direction of the drag knife, and otherwise, to determine that the knife tip direction of the drag knife is unknown, and to control the drag knife to perform cutting by at least one of the knife offsets outside the area enclosed by the cutting path; The drag knife cutting control module is used for obtaining the coordinates of the knife tip according to the coordinates of the knife axis and the knife offset in response to the known direction of the knife tip of the drag knife, controlling the knife tip of the drag knife to transfer to just above the initial knife landing point, determining the cutting sub-paths that the drag knife cuts through in sequence along the cutting path, controlling the drag knife to drop the knife and cut along the cutting path, and rotating the knife tip direction of the drag knife at each knife rotation transition point so that the knife tip direction is opposite to the direction of cutting the cutting sub-path.

9. A computer 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 computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A 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 the method according to any one of claims 1 to 7 are implemented.

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