Workpiece machining track generation method and device, equipment and storage medium

Abstract

The embodiment of the invention provides a workpiece machining track generation method and device, equipment and a medium. The method comprises the steps of obtaining point cloud data of a target workpiece; performing reverse modeling on the point cloud data of the target workpiece to obtain an STP model of the target workpiece; in response to a received target operation triggered by the target object, configuring processing operation parameters of the target workpiece according to the operation classification of the target operation and the STP model; and according to the machining operation parameters of the target workpiece, the machining track of the target workpiece is determined. The standard format file corresponding to the STP model is processed, track planning is conducted through software, and the problems that manual teaching is high in cost, poor in precision and the like are solved. Besides, machining operation parameters corresponding to different machining operations are configured corresponding to different target operations so as to generate the machining track of the target workpiece, then the workpiece is machined based on the machining track, and high-precision machining of the target workpiece is achieved.

Description

Technical Field

[0001] This invention relates to the field of workpiece processing technology and related technical fields, specifically to a method, apparatus, device, and storage medium for generating workpiece processing trajectories. Background Technology

[0002] With the rapid development of modern manufacturing and the continuous improvement of automation and intelligence, higher requirements are being placed on the accurate identification and processing of workpieces.

[0003] In existing technologies, when using software to plan the process trajectory of a workpiece, it is necessary to provide a three-dimensional digital model of the corresponding workpiece. However, the product digital model of some workpieces may be lost, and some digital models may have undergone processes such as wear, welding, grinding, and cutting, which may cause the original digital model to not match the actual model. As a result, when planning the trajectory, offline programming software cannot be used for rapid trajectory process planning. Instead, manual on-site trajectory teaching based on historical experience is required. However, manual teaching has high time and economic costs and poor accuracy. Summary of the Invention

[0004] The embodiments described herein provide a workpiece machining trajectory generation method, apparatus, device, and storage medium that address the problems existing in the prior art.

[0005] Firstly, based on the content of this disclosure, a method for generating a workpiece machining trajectory is provided, including:

[0006] Acquire point cloud data of the target workpiece;

[0007] The point cloud data of the target workpiece is reverse-engineered to obtain the STP model of the target workpiece;

[0008] In response to receiving a target operation triggered by a target object, the processing operation parameters of the target workpiece are configured according to the operation classification of the target operation and the STP model, wherein the target operation includes at least welding, grinding, cutting, spraying and repair.

[0009] The machining trajectory of the target workpiece is determined based on the machining operation parameters of the target workpiece.

[0010] In some embodiments of this disclosure, the step of configuring the machining operation parameters of the target workpiece in response to receiving a target operation triggered by a target object, based on the operation classification of the target operation and the STP model, includes:

[0011] In response to receiving a target operation triggered by a target object, determine the operation category of the target operation;

[0012] When the target operation is classified as the first operation category, the theoretical model of the target workpiece is obtained, and the processing operation parameters of the target workpiece are configured according to the theoretical model and the STP model.

[0013] When the target operation is classified as the second operation category, the processing operation parameters of the target workpiece are configured according to the STP model.

[0014] In some embodiments of this disclosure, configuring the machining operation parameters of the target workpiece according to the theoretical model and the STP model includes:

[0015] The STP model is compared with the theoretical model to determine the target processing area;

[0016] Based on the processing method in the first operation category of the target operation, select the corresponding processing technology package;

[0017] Configure the processing operation parameters of the processing technology package according to the target processing area.

[0018] In some embodiments of this disclosure, configuring the processing operation parameters of the processing technology package according to the target processing area includes:

[0019] Based on the target processing area, determine the target processing surface;

[0020] Based on the target machining surface, a target feature machining point on the target machining surface is selected as the origin of the coordinate system;

[0021] Based on the coordinate data of each feature processing point on the target processing surface, determine the coordinate data of each feature processing point on the target processing surface relative to the target feature processing point;

[0022] Based on the coordinate data of each feature machining point on the target machining surface relative to the target feature machining point, machining parameters, region parameters, connection parameters, and tool parameters are configured to obtain the machining operation parameters of the target machining region. The machining parameters include machining method, machining direction, tool path, number of layers, and layer height. The region parameters include height range, starting point, machining boundary, and avoidance area. The connection parameters include connection method, tool entry method, air cutting area, and smoothing parameters. The tool parameters include tool type and tool diameter.

[0023] In some embodiments of this disclosure, configuring the machining operation parameters of the target workpiece according to the STP model includes:

[0024] In response to the processing coordinate information submitted by the target object, the target processing area is determined according to the STP model;

[0025] Select the corresponding processing package based on the processing method in the second operation category of the target operation;

[0026] Based on the coordinate data of each feature processing point in the target processing area, configure the processing operation parameters of the processing technology package.

[0027] In some embodiments of this disclosure, the method further includes:

[0028] The target workpiece is processed according to the processing trajectory of the target workpiece.

[0029] In some embodiments of this disclosure, the step of reverse modeling the point cloud data of the target workpiece to obtain the STP model of the target workpiece includes:

[0030] Based on the point cloud data of the target workpiece, the basic graphic elements included in the target workpiece are determined, wherein the basic graphic elements include at least cylinders, cones and spheres;

[0031] Position the grid of the basic graphic elements included in the target workpiece to the same coordinate system;

[0032] The cross-sectional lines are extracted from the basic primitives of the mesh in the same coordinate system to generate a 2D drawing of the target workpiece;

[0033] Based on the boundary curves of the 2D image of the target workpiece and the internal point cloud data of the target workpiece, multiple continuous surfaces are generated.

[0034] The STP model of the target workpiece is obtained by fitting multiple continuous surfaces generated using a fitting tool.

[0035] Secondly, according to the present disclosure, a workpiece machining trajectory generation device is provided, comprising:

[0036] The point cloud data acquisition module is used to acquire the point cloud data of the target workpiece;

[0037] The STP model determination module is used to perform reverse modeling on the point cloud data of the target workpiece to obtain the STP model of the target workpiece.

[0038] The processing parameter configuration module is used to respond to a target operation triggered by a target object and configure the processing operation parameters of the target workpiece according to the operation classification of the target operation and the STP model. The target operation includes at least welding, grinding, cutting, spraying and repair.

[0039] The machining trajectory determination module is used to determine the machining trajectory of the target workpiece based on the machining operation parameters of the target workpiece.

[0040] Thirdly, according to the present disclosure, a computer device is provided, comprising:

[0041] One or more processors;

[0042] Storage device for storing one or more programs.

[0043] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any of the first aspects.

[0044] Fourthly, according to the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the methods described in any of the first aspects.

[0045] The workpiece machining trajectory generation method, apparatus, device, and medium provided in this disclosure first acquire point cloud data of the target workpiece; then, reverse modeling is performed on the point cloud data of the target workpiece to obtain the STP model of the target workpiece; subsequently, in response to a target operation triggered by the target object, machining operation parameters of the target workpiece are configured according to the operation classification of the target operation and the STP model, wherein the target operation includes at least welding, grinding, cutting, spraying, and repair; finally, the machining trajectory of the target workpiece is determined according to the machining operation parameters of the target workpiece. In the workpiece machining trajectory generation method provided in this disclosure, reverse modeling software is used to model the point cloud data of the target workpiece to obtain the STP model of the target workpiece, where the point cloud data of the target workpiece in the STP model is a standard format file. By processing the standard format file corresponding to the STP model and using software for trajectory planning, the problems of high cost and poor accuracy of manual teaching are solved. Furthermore, for different target operations, different machining operation parameters are configured to generate the machining trajectory of the target workpiece, and then the workpiece is machined based on the machining trajectory to achieve high-precision machining of the target workpiece.

[0046] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. It should be understood that the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure, wherein:

[0048] Figure 1This is a schematic flowchart of a workpiece machining trajectory generation method provided in an embodiment of this disclosure;

[0049] Figure 2 This is a schematic diagram of the structure of a workpiece machining trajectory generation device provided in an embodiment of this disclosure;

[0050] Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this disclosure.

[0051] In the accompanying diagram, markers with the same last two digits correspond to the same elements. It should be noted that the elements in the diagram are schematic and not drawn to scale. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are also within the scope of protection of this disclosure.

[0053] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this subject matter pertains. It will be further understood that terms such as those defined in commonly used dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the specification and in the relevant art, and shall not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, the statement of “connecting” or “coupling” two or more parts together shall mean that these parts are directly joined together or joined through one or more intermediate components.

[0054] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0055] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B exist simultaneously, or B exists. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0056] Furthermore, in all embodiments of this disclosure, terms such as “first” and “second” are used only to distinguish one component (or part of a component) from another component (or another part of a component).

[0057] In the description of this application, unless otherwise stated, "multiple" means two or more (including two), and similarly, "multiple groups" means two or more (including two groups).

[0058] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0059] Based on the problems existing in the prior art, this disclosure provides a method for generating workpiece machining trajectories. Figure 1 This is a flowchart illustrating a workpiece machining trajectory generation method provided in an embodiment of this disclosure, as shown below. Figure 1 As shown, the specific process of the workpiece machining trajectory generation method includes:

[0060] S110. Obtain the point cloud data of the target workpiece.

[0061] Point cloud data is a set of discrete points generated by a 3D scanning device. Each point contains at least 3D coordinate information (XYZ), and some data also include color (RGB) or reflectance intensity attributes. This type of data can be acquired by devices such as LiDAR and RGB-D cameras, and is widely used in fields such as 3D reconstruction, semantic segmentation, and autonomous driving. After acquiring the point cloud data of the target workpiece through a 3D scanning device, a preferred implementation method is to optimize the quality of the acquired point cloud data through techniques such as filtering, spatial segmentation, and downsampling.

[0062] S120. Perform reverse modeling on the point cloud data of the target workpiece to obtain the STP model of the target workpiece.

[0063] After obtaining the point cloud data of the target workpiece, the point cloud data of the target workpiece is processed based on reverse modeling to obtain the STP model of the target workpiece.

[0064] In existing technologies, the machining trajectory of a workpiece is directly generated from point cloud data. However, this process requires high precision of the point cloud data, necessitating the use of high-precision 3D scanning equipment. For some workpiece processing units lacking such equipment, achieving high-precision machining is impossible, resulting in limited applicability. Therefore, the workpiece machining trajectory generation method provided in this disclosure utilizes reverse modeling software to reverse-engineer the point cloud data of the target workpiece, obtaining an STP model of the target workpiece. The point cloud data of the target workpiece in the STP model is a standard format file. Since the STP model obtained after reverse modeling has high precision, processing the standard format file corresponding to the STP model and using software for trajectory planning can solve problems such as high manual teaching costs and poor accuracy.

[0065] In the specific implementation, reverse modeling is performed on the point cloud data of the target workpiece to obtain the STP model of the target workpiece. This includes: determining the basic primitives included in the target workpiece based on the point cloud data of the target workpiece, wherein the basic primitives include at least cylinders, cones, and spheres; locating the mesh of the basic primitives included in the target workpiece into the same coordinate system; extracting cross-sectional lines from each basic primitive in the same coordinate system from the mesh to generate a 2D image of the target workpiece; generating multiple continuous surfaces based on the boundary curves of the 2D image of the target workpiece and the internal point cloud data of the target workpiece; and fitting the generated multiple continuous surfaces using a fitting tool to obtain the STP model of the target workpiece.

[0066] First, based on the point cloud data of the target workpiece, the basic geometric primitives included in the target workpiece can be determined, such as cylinders, cones, spheres, cuboids, etc. After determining the basic geometric primitives included in the target workpiece, the meshes of the basic geometric primitives of the target workpiece are positioned in the same coordinate system. By positioning the meshes of the basic geometric primitives of the target workpiece in the same coordinate system, the accuracy of the STP model of the target workpiece obtained through reverse modeling can be guaranteed. Then, cross-sectional lines are extracted from each basic geometric primitive in the same coordinate system to generate a 2D image of the target workpiece. The generated 2D image of the target workpiece is a 2D image with boundary dimension constraints. The fitting accuracy of the generated 2D image can be determined by matching it with the original 2D image of the target workpiece, further improving the accuracy of the subsequent STP model of the target workpiece. Next, based on the boundary curves of the 2D image of the target workpiece and the internal point cloud data of the target workpiece, multiple continuous surfaces are generated. Finally, the multiple continuous surfaces generated are fitted using a fitting tool to obtain the STP model of the target workpiece.

[0067] It should be noted that in the above embodiments, when determining which basic graphic elements the target workpiece includes based on the point cloud data of the target workpiece, if some areas of the target workpiece are not basic graphic element structures, the target workpiece can be customized to be segmented. After segmenting the areas that are not basic graphic element structures from the basic graphic elements, a custom graphic element structure can be obtained.

[0068] In addition, before fitting the generated multiple continuous surfaces to obtain the STP model of the target workpiece using a fitting tool, the above implementation method also includes deviation calibration and surface continuity processing of the generated multiple continuous surfaces.

[0069] S130. In response to receiving a target operation triggered by the target object, configure the processing operation parameters of the target workpiece according to the operation classification of the target operation and the STP model.

[0070] The target operations include at least welding, grinding, cutting, spraying, and repair.

[0071] The target object selects the processing method for the target workpiece by triggering the target operation. For example, the target operation includes at least welding, grinding, cutting, spraying and repair.

[0072] In a specific implementation, in response to receiving a target operation triggered by a target object, the processing operation parameters of the target workpiece are configured according to the operation classification of the target operation and the STP model, including: in response to receiving a target operation triggered by a target object, determining the operation classification of the target operation; when the operation classification of the target operation is a first operation classification, obtaining the theoretical model of the target workpiece, and configuring the processing operation parameters of the target workpiece according to the theoretical model and the STP model; when the operation classification of the target operation is a second operation classification, configuring the processing operation parameters of the target workpiece according to the STP model.

[0073] The first operation category includes at least grinding and repair, and the second operation category includes at least welding, cutting and spraying.

[0074] In the workpiece processing trajectory generation method provided in this embodiment, the processing methods for the target workpiece include welding, grinding, cutting, spraying, and repair. For the repair and grinding processing methods, it is necessary to determine the repair position and the structure of the target workpiece after repair, or it is necessary to determine the grinding position and the structure of the target workpiece after grinding. Therefore, if the processing method for the target workpiece is repair or grinding, it is necessary to compare the STP model of the target workpiece with the theoretical model to determine the target processing area, and then configure the processing operation parameters of the target processing area. For the welding, cutting, and spraying processing methods, it is necessary to determine the welding position, cutting position, and spraying position. Therefore, if the processing method for the target workpiece is welding, cutting, or spraying, the target workpiece area can be determined directly according to the STP model, and then the processing operation parameters of the target processing area can be configured.

[0075] Therefore, in the workpiece machining trajectory generation method provided in this embodiment, after receiving the target operation of the target object, the operation category of the target operation is first determined. If the operation category of the target operation is the first operation category, the theoretical model of the target workpiece is obtained, and the machining operation parameters of the target workpiece are configured according to the theoretical model and the STP model. If the operation category of the target operation is the second operation category, the machining operation parameters of the target workpiece are configured according to the STP model.

[0076] As a specific implementation method, when the target operation is classified as the first operation category, the specific process of obtaining the theoretical model of the target workpiece and configuring the machining operation parameters of the target workpiece based on the theoretical model and the STP model includes: comparing the STP model with the theoretical model to determine the target machining area; selecting the corresponding machining process package according to the machining method in the first operation category of the target operation; and configuring the machining operation parameters of the machining process package according to the target machining area.

[0077] The process involves configuring machining operation parameters for the machining technology package based on the target machining area. This includes: determining the target machining surface based on the target machining area; selecting a target feature machining point on the target machining surface as the origin of the coordinates; determining the coordinate data of each feature machining point on the target machining surface relative to the target feature machining point based on the coordinate data of each feature machining point on the target machining surface; and configuring machining parameters, region parameters, connection parameters, and tool parameters based on the coordinate data of each feature machining point on the target machining surface relative to the target feature machining point. The machining parameters include machining method, machining direction, tool path, number of layers, and layer height. The region parameters include height range, starting point, machining boundary, and avoidance area. The connection parameters include connection method, tool entry method, empty cutting area, and smoothing parameters. The tool parameters include tool type and tool diameter.

[0078] In this implementation, if the target operation is classified as the first operation category, the corresponding processing package is selected based on the processing method of the target operation in the first operation category. For example, if the processing method of the target operation in the first operation category is the repair processing method, the additive manufacturing process package is selected; if the processing method of the target operation in the first operation category is the grinding processing method, the grinding process package is selected.

[0079] In this implementation, if the target operation is classified as the first operation category, the STP model and the theoretical model are first compared to determine the target machining area of ​​the workpiece. When the target operation is classified as the first operation category, the determined target machining area can be a repair machining area or a grinding machining area. For the repair machining area, a repair surface needs to be added to the target workpiece according to the target machining surface until the error between the STP model and the theoretical model corresponding to the repaired workpiece meets a preset threshold. For the grinding machining area, the target machining surface needs to be ground on the target workpiece until the error between the STP model and the theoretical model corresponding to the ground workpiece meets a preset threshold.

[0080] It should be noted that the required machining process parameters differ depending on the machining process package. In this embodiment, the machining process parameters in the additive manufacturing process package are exemplarily configured, including machining parameters, area parameters, connection parameters, and tool parameters. For other machining process packages, the included machining process parameters include, but are not limited to, those in the additive manufacturing process package.

[0081] As another specific feasible approach, when the target operation is classified as the second operation category, the machining operation parameters of the target workpiece are configured according to the STP model, including: responding to the machining coordinate information submitted by the target object, determining the target machining area according to the STP model; selecting the corresponding machining process package according to the machining method of the target operation in the second operation category; and configuring the machining operation parameters of the machining process package according to the coordinate data of each feature machining point in the target machining area.

[0082] In this implementation, if the target operation is classified as the second operation category, since the second operation category directly processes the workpiece, the target processing area on the target workpiece is first determined based on the processing coordinate information submitted by the target object and the coordinate information of each feature point in the STP model. Then, the corresponding processing technology package is selected according to the processing method of the target operation in the second operation category. For example, if the processing method of the target operation in the second operation category is welding, the welding technology package is selected; if the processing method of the target operation in the second operation category is cutting, the cutting technology package is selected; and if the processing method of the target operation in the second operation category is spraying, the spraying technology package is selected.

[0083] In this implementation, taking a specific example, if the target operation selected by the target object is the spraying process, then firstly, based on the processing coordinate information submitted by the target object, the target processing area to be sprayed is marked in the STP model, then the spraying process package is selected, and finally, based on the coordinate data of the target processing area, the processing operation parameters of the spraying process package are configured. The processing operation parameters of the spraying process package that need to be configured include: processing parameters, path parameters, and process parameters. The processing parameters include processing surface, processing boundary, orientation parameters, and pre-display settings. The path parameters include trajectory parameters, start and end parameters, and cut-in and cut-out. The process parameters include start signal and prohibition signal.

[0084] It should be noted that the required processing parameters differ depending on the processing technology package. In this embodiment, the processing parameters in the spraying process package are exemplified. For other processing technology packages, the processing parameters include, but are not limited to, those in the spraying process package.

[0085] S140. Determine the machining trajectory of the target workpiece based on the machining operation parameters of the target workpiece.

[0086] After configuring the machining operation parameters of the target workpiece in step S130, the machining trajectory of the target workpiece is generated according to the machining operation parameters of the target workpiece.

[0087] The workpiece machining trajectory generation method provided in this disclosure first acquires point cloud data of the target workpiece; then, it performs reverse modeling on the point cloud data of the target workpiece to obtain an STP model of the target workpiece; subsequently, in response to a target operation triggered by the target object, it configures machining operation parameters of the target workpiece according to the operation classification of the target operation and the STP model, wherein the target operation includes at least welding, grinding, cutting, spraying, and repair; finally, it determines the machining trajectory of the target workpiece based on the machining operation parameters of the target workpiece. In the workpiece machining trajectory generation method provided in this disclosure, reverse modeling software is used to model the point cloud data of the target workpiece to obtain an STP model of the target workpiece, where the point cloud data of the target workpiece in the STP model is a standard format file. By processing the standard format file corresponding to the STP model and using software for trajectory planning, the problems of high cost and poor accuracy of manual teaching are solved. Furthermore, for different target operations, different machining operation parameters are configured to generate the machining trajectory of the target workpiece, and then the workpiece is machined based on the machining trajectory to achieve high-precision machining of the target workpiece.

[0088] Based on the above embodiments, the method provided in this disclosure further includes:

[0089] The target workpiece is processed according to its machining trajectory.

[0090] After determining the machining trajectory of the target workpiece, the target workpiece is machined according to the machining trajectory.

[0091] It should be noted that the processing operation required for the target workpiece can be one processing operation or multiple processing operations. When the processing operation for the target workpiece is multiple processing operations, after the first processing operation is completed, the target processing area is first determined according to the operation category of the second processing operation, then the processing technology package is switched, and finally the processing operation parameters of the processing technology package are configured.

[0092] Based on the above embodiments, Figure 2 This is a schematic diagram of the structure of a workpiece machining trajectory generation device provided in an embodiment of this disclosure, as shown below. Figure 2 As shown, the workpiece machining trajectory generation device includes:

[0093] Point cloud data acquisition module 210 is used to acquire point cloud data of the target workpiece;

[0094] STP model determination module 220 is used to perform reverse modeling on the point cloud data of the target workpiece to obtain the STP model of the target workpiece.

[0095] The processing parameter configuration module 230 is used to respond to a target operation triggered by a target object and configure the processing operation parameters of the target workpiece according to the operation classification of the target operation and the STP model. The target operation includes at least welding, grinding, cutting, spraying and repair.

[0096] The machining trajectory determination module 240 is used to determine the machining trajectory of the target workpiece based on the machining operation parameters of the target workpiece.

[0097] The workpiece machining trajectory generation method provided in this disclosure first acquires point cloud data of the target workpiece; then, it performs reverse modeling on the point cloud data of the target workpiece to obtain an STP model of the target workpiece; subsequently, in response to a target operation triggered by the target object, it configures machining operation parameters of the target workpiece according to the operation classification of the target operation and the STP model, wherein the target operation includes at least welding, grinding, cutting, spraying, and repair; finally, it determines the machining trajectory of the target workpiece based on the machining operation parameters of the target workpiece. In the workpiece machining trajectory generation method provided in this disclosure, reverse modeling software is used to model the point cloud data of the target workpiece to obtain an STP model of the target workpiece, where the point cloud data of the target workpiece in the STP model is a standard format file. By processing the standard format file corresponding to the STP model and using software for trajectory planning, the problems of high cost and poor accuracy of manual teaching are solved. Furthermore, for different target operations, different machining operation parameters are configured to generate the machining trajectory of the target workpiece, and then the workpiece is machined based on the machining trajectory to achieve high-precision machining of the target workpiece.

[0098] In a specific implementation, the step of responding to a target operation triggered by a target object and configuring the processing operation parameters of the target workpiece according to the operation classification of the target operation and the STP model includes:

[0099] In response to receiving a target operation triggered by a target object, determine the operation category of the target operation;

[0100] When the target operation is classified as the first operation category, the theoretical model of the target workpiece is obtained, and the processing operation parameters of the target workpiece are configured according to the theoretical model and the STP model.

[0101] When the target operation is classified as the second operation category, the processing operation parameters of the target workpiece are configured according to the STP model.

[0102] In a specific implementation, configuring the machining operation parameters of the target workpiece according to the theoretical model and the STP model includes:

[0103] The STP model is compared with the theoretical model to determine the target processing area;

[0104] Based on the processing method in the first operation category of the target operation, select the corresponding processing technology package;

[0105] Configure the processing operation parameters of the processing technology package according to the target processing area.

[0106] In a specific implementation, configuring the processing operation parameters of the processing technology package according to the target processing area includes:

[0107] Based on the target processing area, determine the target processing surface;

[0108] Based on the target machining surface, a target feature machining point on the target machining surface is selected as the origin of the coordinate system;

[0109] Based on the coordinate data of each feature processing point on the target processing surface, determine the coordinate data of each feature processing point on the target processing surface relative to the target feature processing point;

[0110] Based on the coordinate data of each feature machining point on the target machining surface relative to the target feature machining point, machining parameters, region parameters, connection parameters, and tool parameters are configured to obtain the machining operation parameters of the target machining region. The machining parameters include machining method, machining direction, tool path, number of layers, and layer height. The region parameters include height range, starting point, machining boundary, and avoidance area. The connection parameters include connection method, tool entry method, air cutting area, and smoothing parameters. The tool parameters include tool type and tool diameter.

[0111] In a specific implementation, configuring the machining operation parameters of the target workpiece according to the STP model includes:

[0112] In response to the processing coordinate information submitted by the target object, the target processing area is determined according to the STP model;

[0113] Select the corresponding processing package based on the processing method in the second operation category of the target operation;

[0114] Based on the coordinate data of each feature processing point in the target processing area, configure the processing operation parameters of the processing technology package.

[0115] In a specific implementation, the method further includes:

[0116] The target workpiece is processed according to the processing trajectory of the target workpiece.

[0117] In a specific implementation, the step of reverse modeling the point cloud data of the target workpiece to obtain the STP model of the target workpiece includes:

[0118] Based on the point cloud data of the target workpiece, the basic graphic elements included in the target workpiece are determined, wherein the basic graphic elements include at least cylinders, cones and spheres;

[0119] Position the grid of the basic graphic elements included in the target workpiece to the same coordinate system;

[0120] The cross-sectional lines are extracted from the basic primitives of the mesh in the same coordinate system to generate a 2D drawing of the target workpiece;

[0121] Based on the boundary curves of the 2D image of the target workpiece and the internal point cloud data of the target workpiece, multiple continuous surfaces are generated.

[0122] The STP model of the target workpiece is obtained by fitting multiple continuous surfaces generated using a fitting tool.

[0123] This application also provides a computer device, please refer to the following for details. Figure 3 , Figure 3 This is a basic structural block diagram of the computer device in this embodiment.

[0124] The computer device includes a memory 510 and a processor 520 that are interconnected via a system bus. It should be noted that only a computer device with components 510-520 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components may be implemented alternatively. Those skilled in the art will understand that the computer device described herein is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0125] Computer devices can include desktop computers, laptops, handheld computers, and cloud servers. These devices allow for human-computer interaction with users through keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0126] The memory 510 includes at least one type of readable storage medium, including non-volatile memory or volatile memory, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. RAM may include static RAM or dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of a computer device, such as the hard disk or memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, or flash card equipped on the computer device. Of course, the memory 510 may include both internal storage units and external storage devices of the computer device. In this embodiment, the memory 510 is typically used to store the operating system and various application software installed on the computer device, such as the program code of the method described above. In addition, the memory 510 may also be used to temporarily store various types of data that have been output or will be output.

[0127] The processor 520 is typically used to perform the overall operation of a computer device. In this embodiment, the memory 510 is used to store program code or instructions, including computer operation instructions. The processor 520 is used to execute the program code or instructions stored in the memory 510 or to process data, such as program code that runs the methods described above.

[0128] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus system can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0129] Another embodiment of this application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads computer-readable program code stored in the computer-readable medium, enabling the processor to execute the functional actions specified in each step or combination of steps in the above method; and to generate means for implementing the functional actions specified in each block or combination of blocks in the block diagram.

[0130] Computer-readable media include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any suitable combination thereof, wherein the memory is used to store program code or instructions, the program code including computer operation instructions, and the processor is used to execute the program code or instructions of the above-described methods stored in the memory.

[0131] The definitions of memory and processor can be found in the description of the foregoing computer device embodiments, and will not be repeated here.

[0132] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0133] In the various embodiments of this application, the functional units or modules can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0134] If the integrated unit is implemented as 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, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0135] Unless otherwise expressly indicated by the context, the singular form of words used herein and in the appended claims includes the plural form, and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the terms “comprising” and “including” shall be interpreted as including rather than exclusively. Likewise, the terms “including” and “or” shall be interpreted as including unless such interpretation is expressly prohibited herein. Where the term “example” is used herein, particularly when it follows a set of terms, the “example” is merely exemplary and illustrative and should not be considered exclusive or extensive.

[0136] Further aspects and scope of adaptation become apparent from the description provided herein. It should be understood that various aspects of this application may be implemented individually or in combination with one or more other aspects. It should also be understood that the descriptions and specific embodiments herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0137] Several embodiments of this disclosure have been described in detail above. However, it is obvious that those skilled in the art can make various modifications and variations to the embodiments of this disclosure without departing from the spirit and scope of this disclosure. The scope of protection of this disclosure is defined by the appended claims.

Claims

1. A method of generating a machining trajectory of a workpiece, characterized by, The method comprises: acquiring point cloud data of a target workpiece; reverse modeling the point cloud data of the target workpiece to obtain an STP model of the target workpiece; in response to receiving a target operation triggered by a target object, configuring machining operation parameters of the target workpiece according to an operation classification of the target operation and the STP model, wherein the target operation at least includes welding, grinding, cutting, spraying and repairing; determining a machining trajectory of the target workpiece according to the machining operation parameters of the target workpiece.

2. The method of claim 1, wherein, The response to receiving a target operation triggered by a target object, configuring machining operation parameters of the target workpiece according to an operation classification of the target operation and the STP model, comprises: in response to receiving a target operation triggered by a target object, determining an operation classification of the target operation; when the operation classification of the target operation is a first operation classification, acquiring a theoretical model of the target workpiece, and configuring machining operation parameters of the target workpiece according to the theoretical model and the STP model; when the operation classification of the target operation is a second operation classification, configuring machining operation parameters of the target workpiece according to the STP model.

3. The method of claim 2, wherein, The configuration of the machining operation parameters of the target workpiece according to the theoretical model and the STP model comprises: comparing the STP model with the theoretical model to determine a target machining area; selecting a corresponding machining process package according to a machining method of the target operation in the first operation classification; configuring machining operation parameters of the machining process package according to the target machining area.

4. The method of claim 3, wherein, The configuration of the machining operation parameters of the machining process package according to the target machining area comprises: determining a target machining surface according to the target machining area; selecting a target feature machining point on the target machining surface as a coordinate origin according to the target machining surface; determining coordinate data of each feature machining point on the target machining surface relative to the target feature machining point according to coordinate data of each feature machining point on the target machining surface; configuring machining parameters, area parameters, connection parameters and tool parameters according to the coordinate data of each feature machining point on the target machining surface relative to the target feature machining point to obtain machining operation parameters of the target machining area, wherein the machining parameters include machining method, machining direction, tool path mode, layer number and layer height, the area parameters include height range, starting point, machining boundary and avoidance area, the connection parameters include connection method, tool lowering method, air cutting area and smoothing parameter, and the tool parameters include tool type and tool diameter.

5. The method of claim 2, wherein, The configuration of the machining operation parameters of the target workpiece according to the STP model comprises: in response to machining coordinate information submitted by a target object, determining a target machining area according to the STP model; selecting a corresponding machining process package according to a machining method of the target operation in the second operation classification; configuring machining operation parameters of the machining process package according to coordinate data of each feature machining point of the target machining area.

6. The method of claim 1, wherein, The method further comprises: machining the target workpiece according to the machining trajectory of the target workpiece.

7. The method of claim 1, wherein, The point cloud data of the target workpiece is reversely modeled to obtain an STP model of the target workpiece, including: According to the point cloud data of the target workpiece, the basic primitives included in the target workpiece are determined, wherein the basic primitives at least include a cylinder, a cone and a sphere; The meshes of the basic primitives included in the target workpiece are positioned in the same coordinate system; The section lines are extracted from the meshes in each of the basic primitives in the same coordinate system to generate a 2D graph of the target workpiece; According to the boundary curve of the 2D graph of the target workpiece and the internal point cloud data of the target workpiece, a plurality of continuous surfaces are generated; The generated plurality of continuous surfaces are fitted by a fitting tool to obtain the STP model of the target workpiece.

8. A workpiece machining trajectory generation apparatus characterized by comprising: Comprising: a point cloud data acquisition module for acquiring point cloud data of a target workpiece; an STP model determination module for reversely modeling the point cloud data of the target workpiece to obtain an STP model of the target workpiece; a processing parameter configuration module for responding to receiving a target operation triggered by a target object, configuring processing operation parameters of the target workpiece according to an operation classification of the target operation and the STP model, wherein the target operation at least includes welding, polishing, cutting, spraying and repairing; a processing trajectory determination module for determining a processing trajectory of the target workpiece according to the processing operation parameters of the target workpiece.

9. A computer device, comprising: Comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method as claimed in any one of claims 1-7.

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