Polishing track planning method and device and electronic equipment

Abstract

The invention provides a polishing track planning method and device and electronic equipment, and relates to the technical field of computer polishing. The method comprises the steps that a polishing model and a plurality of first feature points are imported into offline programming software, the polishing model comprises a polishing equipment model, a polishing tool model and a to-be-polished workpiece model, and the first feature points are feature points corresponding to a plurality of to-be-polished areas of a to-be-polished workpiece; the to-be-polished workpiece model is calibrated according to the polishing equipment model, the polishing tool model, the multiple to-be-polished areas and the multiple first feature points, and a target to-be-polished model area is obtained; track processing parameters are defined in offline programming software; and multiple second feature points are determined from the target to-be-polished model area according to the track machining parameters, polishing track planning is conducted according to the target to-be-polished model area and the multiple second feature points, a target polishing track is obtained, and the multiple second feature points are not located on the same straight line. And the planning accuracy for the polishing track of the complex curved surface is improved.

Description

Technical Field

[0001] This application relates to the field of computer polishing technology, specifically to a polishing trajectory planning method, apparatus, and electronic device. Background Technology

[0002] Industrial robot grinding is widely used in the automotive, aerospace, and 3C electronics industries. However, traditional teaching-programming methods are inefficient and time-consuming; online teaching operations pose safety hazards; insufficient robot absolute positioning accuracy leads to trajectory deviations; and repeated trial and error result in wasted time and material costs. To address these issues with traditional teaching-programming methods for grinding, current technologies are increasingly moving towards automated grinding, with trends towards force control, vision guidance, and intelligentization. Force control sensors and 3D vision improve accuracy, while AI algorithms are gradually optimizing processes.

[0003] However, existing automated grinding methods typically involve automatically planning the grinding trajectory and then having the grinding equipment perform grinding according to the planned trajectory. But when planning the grinding trajectory for complex curved surfaces (such as grinding in the aerospace field, which often involves grinding multiple or complex curved surfaces), the existing methods are still limited by the complexity of complex surface processing, material diversity, and the integration complexity of high-cost equipment. In other words, existing grinding trajectory planning methods cannot achieve high accuracy for grinding complex curved surfaces.

[0004] There is currently no effective technical solution to the problem that existing grinding trajectory planning methods are not accurate enough for planning grinding trajectories on complex curved surfaces. Summary of the Invention

[0005] This application provides a grinding trajectory planning method, apparatus, and electronic device to at least solve the problem that existing grinding trajectory planning methods have low accuracy in planning grinding trajectories for complex curved surfaces.

[0006] According to one aspect of the embodiments of this application, a grinding trajectory planning method is provided, comprising: importing a grinding model and a plurality of first feature points into offline programming software, wherein the grinding model includes a grinding equipment model, a grinding tool model, and a workpiece model to be ground, and the plurality of first feature points are feature points corresponding to a plurality of grinding areas of the workpiece to be ground; calibrating the workpiece model to be ground according to the grinding equipment model, the grinding tool model, the plurality of grinding areas, and the plurality of first feature points to obtain a target grinding model area; defining trajectory processing parameters in the trajectory processing parameter display interface of the offline programming software; determining a plurality of second feature points from the target grinding model area according to the trajectory processing parameters, and performing grinding trajectory planning according to the target grinding model area and the plurality of second feature points to obtain a target grinding trajectory, wherein the plurality of second feature points are not on the same straight line.

[0007] According to another aspect of the embodiments of this application, a grinding trajectory planning device is also provided, comprising: an import unit, configured to import a grinding model and a plurality of first feature points into offline programming software, wherein the grinding model includes a grinding equipment model, a grinding tool model, and a workpiece model to be ground, and the plurality of first feature points are feature points corresponding to a plurality of grinding areas of the workpiece to be ground; a calibration unit, configured to calibrate the workpiece model to be ground based on the grinding equipment model, the grinding tool model, the plurality of grinding areas, and the plurality of first feature points to obtain a target grinding model area; and a definition unit, configured to define trajectory processing parameters in the trajectory processing parameter display interface of the offline programming software, wherein the trajectory... The processing parameters include: processing accuracy and point distance parameters, processing surface parameters, avoidance surface parameters, processing boundary parameters, and trajectory parameters. Among them, the processing surface parameters are used to determine the workpiece model to be ground for the planned grinding trajectory, the avoidance surface parameters are used to determine the surfaces to be avoided when planning the grinding trajectory, the processing boundary parameters are used to determine multiple second feature points, and the trajectory parameters are used to indicate the planning requirements of the grinding trajectory. The trajectory planning unit is used to determine multiple second feature points from the target model area to be ground based on the trajectory processing parameters, and to plan the grinding trajectory based on the target model area to be ground and the multiple second feature points to obtain the target grinding trajectory. Among them, the multiple second feature points are not on the same straight line.

[0008] Optionally, the trajectory planning unit includes: a connection subunit for connecting multiple second feature points to obtain a two-dimensional planar region; a construction subunit for obtaining the grinding tool coordinate system and constructing a trajectory coordinate system based on the grinding tool coordinate system and the target model region to be ground; a definition subunit for defining region parameters of the two-dimensional planar region based on the workpiece model to be ground and the trajectory coordinate system to obtain the region to be planned corresponding to the two-dimensional planar region; and a trajectory planning subunit for planning the grinding trajectory of the region to be planned based on the trajectory processing parameters to obtain the target grinding trajectory.

[0009] Optionally, the above-mentioned construction sub-unit includes: a first setting module, used to set any point in the target model area to be polished as the coordinate circle of the trajectory coordinate system; a second setting module, used to set the direction opposite to the Z-axis in the polishing tool coordinate system as the Z-axis direction of the trajectory coordinate system; a third setting module, used to set the direction in the same direction as the Y-axis in the polishing tool coordinate system as the Y-axis direction of the trajectory coordinate system when the direction opposite to the X-axis in the polishing tool coordinate system is set as the X-axis direction of the trajectory coordinate system; the third setting module is also used to set the direction opposite to the Y-axis in the polishing tool coordinate system as the Y-axis direction of the trajectory coordinate system when the direction in the same direction as the X-axis in the polishing tool coordinate system is set as the X-axis direction of the trajectory coordinate system.

[0010] Optionally, the calibration unit includes: a position calibration subunit, used to perform position calibration on the workpiece model to be polished based on multiple first feature points corresponding to multiple areas to be polished, and to perform relative position calibration on the polishing equipment model, the polishing tool model, and the workpiece model to be polished; a selection subunit, used to select multiple target feature points corresponding to the target area to be polished from the multiple first feature points, wherein the target area to be polished is any area of ​​the multiple areas to be polished without a planned polishing trajectory; and a matching calibration subunit, used to perform matching calibration on the workpiece model to be polished based on the multiple target feature points and the polishing tool model to obtain the target model area to be polished, wherein the target model area to be polished corresponds to the target area to be polished, and the matching calibration is used to determine the reachable area of ​​the polishing tool model from the workpiece model to be polished based on the multiple target feature points.

[0011] Optionally, the above-mentioned grinding trajectory planning device further includes: a smoothing operation unit, used to perform a smoothing operation on the workpiece model to be ground before calibrating it according to the grinding equipment model, the grinding tool model, multiple areas to be ground and multiple first feature points, and to determine the model obtained by the smoothing operation as the workpiece model to be ground, wherein the workpiece model to be ground is used to process the model surface of the workpiece model to be ground into a smooth surface.

[0012] Optionally, the above-mentioned grinding trajectory planning device further includes: a region division unit, used to divide the workpiece to be ground into regions according to the grinding process requirements before importing the grinding model and multiple first feature points into the offline programming software, thereby obtaining multiple regions to be ground; a marking unit, used to mark multiple first feature points for each region to be ground, thereby obtaining multiple first feature points corresponding to each region to be ground, wherein the multiple first feature points are not on the same straight line; and a scanning unit, used to scan the multiple first feature points on the workpiece to be ground using a scanning tool, thereby obtaining multiple first feature points including their relative positional relationship with the workpiece to be ground.

[0013] Optionally, the above-mentioned grinding trajectory planning device further includes: a generation unit, used to generate a grinding program based on the target grinding trajectory after obtaining the target grinding trajectory; a simulation grinding unit, used to control the grinding equipment model and the grinding tool model to simulate grinding the workpiece model to be ground according to the grinding program, and obtain the simulation grinding effect; a judgment unit, used to import the grinding program into the grinding equipment and the grinding tool linked with the grinding equipment for actual grinding when the simulation grinding effect meets the grinding process requirements; the judgment unit is also used to adjust the trajectory planning parameters in the offline programming software and perform grinding trajectory planning according to the adjusted trajectory planning parameters when the simulation grinding effect does not meet the grinding process requirements, wherein the trajectory planning parameters include: trajectory processing parameters, area parameters, trajectory coordinate system and process parameters, and the process parameters are used to indicate the start and stop status of the grinding tool when grinding the workpiece to be ground.

[0014] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, which stores computer instructions for causing a computer to perform the grinding trajectory planning method described above.

[0015] According to another aspect of the embodiments of this application, an electronic device is also provided, the electronic device including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the grinding trajectory planning method as described above.

[0016] The above-described grinding trajectory planning method solves the problem of low accuracy in grinding trajectory planning for complex surfaces in existing methods, and improves the planning accuracy of grinding trajectories for complex surfaces. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart of an optional grinding trajectory planning method according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of an optional grinding trajectory planning method according to an embodiment of the present invention;

[0020] Figure 3This is a schematic diagram of the structure of an optional grinding trajectory planning device according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present invention. Detailed Implementation

[0022] 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. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] To address the issue of low accuracy in grinding trajectory planning for complex surfaces in existing grinding trajectory planning methods, this application provides a grinding trajectory planning method for complex surfaces. As an optional implementation, this grinding trajectory planning method can be applied, but is not limited to, to a grinding trajectory planning system composed of terminal devices and a server. The terminal device connects to the server via a network, which can include, but is not limited to, wired networks and wireless networks. The wired network includes local area networks (LANs), metropolitan area networks (MANs), and wide area networks (WANs). The wireless network includes Bluetooth, Wi-Fi, and other networks enabling wireless communication. The terminal device can include, but is not limited to, at least one of the following: mobile phones (such as Android phones, iOS phones, etc.), laptops, tablets, handheld computers, MIDs (Mobile Internet Devices), tablets, desktop computers, smart TVs, etc.

[0026] The terminal device is also equipped with a display, a processor, and a memory. The display can be used to show the process of grinding trajectory planning, simulate grinding effects, etc., the processor can be used to process the data and models involved in this application, and the memory can be used to store various models and data involved in this application.

[0027] The aforementioned server can be a single server, a server cluster consisting of multiple servers, or a cloud server. The server includes a database and a processing engine. The database is used to store the various models and data involved in this application, and the processing engine is used to process these models and data.

[0028] According to one aspect of the present invention, the above-described grinding trajectory planning system may further perform the following steps: importing a grinding model and a plurality of first feature points into offline programming software, wherein the grinding model includes a grinding equipment model, a grinding tool model, and a workpiece model to be ground, and the plurality of first feature points are feature points corresponding to a plurality of grinding areas of the workpiece to be ground; calibrating the workpiece model to be ground according to the grinding equipment model, the grinding tool model, the plurality of grinding areas, and the plurality of first feature points to obtain a target grinding model area; defining trajectory processing parameters in the trajectory processing parameter display interface of the offline programming software; determining a plurality of second feature points from the target grinding model area according to the trajectory processing parameters, and performing grinding trajectory planning according to the target grinding model area and the plurality of second feature points to obtain a target grinding trajectory, wherein the plurality of second feature points are not on the same straight line.

[0029] In the above embodiments of the present invention, the above-described grinding trajectory planning method solves the problem that the existing grinding trajectory planning methods are not accurate enough for complex curved surfaces, and improves the planning accuracy of grinding trajectories for complex curved surfaces.

[0030] The above is merely an example, and no limitations are made in this embodiment.

[0031] As an alternative implementation method, please refer to Figure 1 The diagram illustrates a flowchart of a grinding trajectory planning method provided in one embodiment of this application. The execution entities for each step of this method can be the terminal devices and servers described above. In the following method embodiments, for ease of description, the execution entity for each step will only be described as a "computer device." The method may include at least one of the following steps (S102 to S108):

[0032] S102, import the grinding model and multiple first feature points into the offline programming software. The grinding model includes a grinding equipment model, a grinding tool model, and a workpiece model to be ground. The multiple first feature points are feature points corresponding to multiple areas to be ground on the workpiece.

[0033] S104, calibrate the model of the workpiece to be polished based on the model of the polishing equipment, the model of the polishing tool, multiple areas to be polished, and multiple first feature points to obtain the target model area to be polished.

[0034] S106, Define trajectory machining parameters in the trajectory machining parameter display interface of the offline programming software;

[0035] S108, determine multiple second feature points from the target model area to be polished according to the trajectory processing parameters, and perform polishing trajectory planning based on the target model area to be polished and the multiple second feature points to obtain the target polishing trajectory, wherein the multiple second feature points are not on the same straight line.

[0036] The model import operation in S102 can be either directly importing a pre-created model from offline programming software, or constructing a grinding equipment model (the model corresponding to the grinding equipment (e.g., a grinding robot)), a grinding tool model (e.g., a grinding wheel) corresponding to a grinding tool, and a 3D digital model (point cloud model) obtained by scanning the workpiece to be ground using a 3D camera in 3D modeling software. After obtaining the 3D digital model by scanning with a 3D camera, it is necessary to convert the 3D digital model into a featureless model (i.e., the aforementioned workpiece model), in a format such as STL. The multiple first feature points in S102 correspond to the marker points on the workpiece to be ground. After marking the marker points on the workpiece to be ground, the entire workpiece to be ground needs to be scanned to obtain the marked marker points (i.e., the aforementioned multiple first feature points). The imported multiple first feature points are the marker points. Each area to be ground corresponds to multiple first feature points, and the multiple first feature points corresponding to each area to be ground are not on the same straight line. The grinding equipment model is a multi-dimensional model corresponding to the grinding equipment; the grinding tool model is a multi-dimensional model corresponding to the grinding tool (e.g., a grinding wheel); and the workpiece model is a multi-dimensional model corresponding to the workpiece. The workpiece model is a featureless model. A featureless model can be understood, but is not limited to, that when selecting on a featureless model, it is impossible to select a specific point, line, or surface; that is, it is impossible to select a specific location or area on the featureless model, only the entire featureless model can be selected. Furthermore, when importing the grinding model, scene models related to the actual scene can also be imported to detect whether the generated target grinding trajectory will collide during grinding.

[0037] The calibration in S104 includes the calibration of multiple first feature points relative to the workpiece model to be polished (which can be understood, but is not limited to, calibrating the relative positional relationship between multiple first feature points and the workpiece model to be polished), the calibration of the relative positional relationship between the workpiece model to be polished, the polishing equipment model, and the polishing tool model obtained after calibration, which include multiple first feature points, and the matching calibration based on multiple feature points corresponding to any polishing area among the multiple first feature points and the polishing tool model. The matching calibration is used to determine any one of the multiple polishing model areas (each polishing model area corresponds to a polishing area divided in the workpiece to be polished) as the target polishing model area for polishing trajectory planning. After the polishing trajectory is planned for the target polishing model area, the target polishing model area is determined again from any polishing model area without a planned polishing trajectory among the multiple polishing model areas corresponding to the multiple polishing areas on the workpiece model to be polished, using the above method for determining the target polishing model area. Repeat the above operation until grinding trajectories are planned for all multiple areas of the workpiece model to be ground.

[0038] The calibration operation in S104 specifically includes recording equipment-related parameters in the field environment before importing the grinding model and multiple first feature points in S102, including the DH parameters of the grinding equipment and the TCP of the grinding tool (e.g., ...). Figure 2 The parameters include the coordinate system (origin information) corresponding to any one of the four points A, B, C, and D shown, and these parameters are used to define parameters in S106. DH parameters are the relevant parameters of the grinding robot (i.e., the grinding equipment) (the dimensional parameters of each part of the robot, such as the rod length / axis length of each axis). TCP refers to the position information around the grinding wheel (the grinding wheel has four TCPs that are symmetrically arranged in pairs (i.e., up, down, left, and right). If a TCP cannot grind the required position, it is necessary to adjust the other TCPs using the same grinding wheel for grinding.

[0039] Before importing the polishing model and reading the first feature point, the following steps are also included:

[0040] S1, Divide the workpiece to be polished into multiple areas according to the polishing process requirements;

[0041] S2, mark multiple first feature points for each area to be polished, and obtain multiple first feature points corresponding to each area to be polished, wherein the multiple first feature points are not on the same straight line;

[0042] S3, a scanning tool is used to scan multiple first feature points on the workpiece to be polished, and multiple first feature points including their relative positional relationship with the workpiece to be polished are obtained.

[0043] It should be noted that this application does not limit the amount of data for dividing the region in S1 for workpieces of different sizes to be ground. Although the workpieces to be ground in the field environment are divided into regions according to the grinding process requirements, since the workpiece model is a featureless model, the region division of the workpiece is not visible to the user on the workpiece model (i.e., the user cannot see the divided regions on the workpiece model). In the offline programming software, only the whole can be selected for featureless models, not a part. Therefore, in this application, when calibrating the position of the workpiece model to be ground with the workpiece in the field environment (i.e., to ensure that the position of the workpiece model in the offline programming software corresponds to the position of the workpiece in the field environment), a special calibration method is required (i.e., the position calibration of the workpiece model based on multiple first feature points corresponding to multiple grinding regions is described below). The position calibration method used in this application is the feature point calibration method.

[0044] The marking operation performed in S2 above can be understood, but is not limited to, marking feature points (i.e., the first feature points) on the workpiece to be polished after the area is divided. When marking the first feature points on the workpiece to be polished, the same number of first feature points are marked on each area to be polished on the workpiece to be polished (for example, three first feature points are marked on each area to be polished). The fact that multiple first feature points are not on the same straight line can be understood, but is not limited to, marking at least three feature points on each area to be polished, and that at least three feature points are not on the same straight line.

[0045] The scanning in S3 above is a scanning of multiple first feature points marked on the workpiece to be polished, thereby obtaining multiple first feature points containing the position information of each first feature point. The position information of each first feature point includes not only the position information of each first feature point in the field environment, but also the relative positional relationship information between each first feature point and the workpiece to be polished.

[0046] The operation in S106 above can be understood, but is not limited to, defining a grinding equipment model, a grinding tool model (e.g., a force-controlled grinding wheel, an external grinding tool), and a workpiece model to be ground in offline programming software. The trajectory machining parameters include: machining accuracy and point distance parameters, machining surface parameters, avoidance surface parameters, machining boundary parameters, and trajectory parameters. The machining surface parameters are used to determine the workpiece model to be ground for the planned grinding trajectory; the avoidance surface parameters are used to determine the surfaces to be avoided when planning the grinding trajectory; the machining boundary parameters are used to determine multiple second feature points; and the trajectory parameters are used to indicate the planning requirements of the grinding trajectory. That is, the multiple second feature points can be understood, but are not limited to, as boundary points in the target model area to be ground.

[0047] The above machining accuracy and point spacing parameters can be set to the maximum point spacing and machining accuracy (chord ratio, angle); the above trajectory parameters can be set to the tool path mode (i.e., the direction of the grinding trajectory), which includes: parallel reciprocating (Z) shape, parallel unidirectional, parallel reciprocating, etc.; the trajectory parameters can also be set to the inspiration mode (the initial grinding point of the workpiece to be ground when grinding according to the planned grinding trajectory), which includes: upper left, lower left, upper right, lower right; the trajectory parameters can also be set to parameters such as row distance, angle with the X-axis, surface allowance, and smooth transition between rows. In addition, the above trajectory machining parameters also include the correspondence between the X-axis of the point posture coordinate system (grinding tool coordinate system) and the trajectory coordinate system (e.g., setting the correspondence between the X-axis of the point posture coordinate system and the X-axis of the trajectory coordinate system), boundary offset (the offset type and offset amount can be set), recalculation and preview (the original contour, trajectory, and direction can be displayed, etc. can be displayed).

[0048] The machining parameters in the trajectory machining parameters (the target area needs to be mesh smoothed before setting machining parameters; the smoothing operation is done during calibration) can only select the entire model, while the machining boundary parameters are used to select the region (selected based on multiple second feature points, which can be the boundary points of the target region). (The curve chain picking tool options include: inner and outer loops of a surface, all loops of a surface, edges on a volume, sketch curves, point chains, cylinder / toroidal axis lines, etc. However, the featureless model targeted in this application needs to be selected through point chains, and the point chain parameters include: center point of a circle / ellipse, midpoint of a line / edge, extension point of a line / edge, endpoint of the cylinder axis line, and center point of a sphere). The trajectory machining parameters can also set the model for which grinding trajectory planning is required (i.e., the workpiece model to be ground mentioned above).

[0049] The operation in S108 above can be understood, but is not limited to, planning a grinding trajectory for the target area to be ground based on multiple second feature points in the target area to be ground. After the grinding trajectory planning for the target area to be ground is completed, any area without a planned grinding trajectory can be re-determined from the workpiece model to be ground as the target area to be ground for grinding trajectory planning, until all areas in the workpiece model to be ground have planned grinding trajectories. It should be noted that the multiple second feature points mentioned above can be the same as or different from the multiple first feature points imported into the offline programming software, and the number of multiple second feature points can also be the same as or different from the number of multiple first feature points. That is, multiple second feature points not being on the same straight line can be understood, but is not limited to, that each determined target area to be ground corresponds to at least three second feature points, but can also correspond to four, five, etc. In this application, it is preferred that each area to be ground corresponds to three first feature points, and each determined target area to be ground corresponds to four feature points, while the number of multiple second feature points and multiple first feature points is not limited in this application. The operation in S108 above, for example, uses a three-digit model of the workpiece in offline programming simulation software to generate a robot running path (i.e., the above-mentioned target grinding trajectory) with a force control mode of active compliance control, applying a grinding pressure of 20N to the contact force target value and a grinding wheel grinding angle of 15 degrees.

[0050] The operation of determining multiple second feature points in S108 above can be understood, but is not limited to, as selecting multiple second feature points from the target model area to be polished in the machining boundary parameters of the flat surface machining process in offline programming software using the curve chain picking tool point chain for subsequent generation of a two-dimensional planar area. The overall shape of the target polishing trajectory in S108 can be a square curved surface trajectory or a fan-shaped curved surface trajectory, etc., and this application does not limit the overall shape of the target polishing trajectory.

[0051] Through the above-described embodiments of this application, a special method of grinding trajectory planning is adopted by combining the first feature point information of the workpiece to be ground on site and the second feature point information of the target model area to be ground, thereby realizing grinding trajectory planning for complex curved surfaces. This solves the problem that the existing grinding trajectory planning methods have low accuracy in planning grinding trajectories for complex curved surfaces, and improves the planning accuracy of grinding trajectories for complex curved surfaces.

[0052] As an optional implementation, the above-mentioned grinding trajectory planning based on the target model area to be ground and multiple second feature points to obtain the target grinding trajectory includes:

[0053] S1, connect multiple second feature points to obtain a two-dimensional planar region;

[0054] S2, obtain the coordinate system of the polishing tool, and construct the trajectory coordinate system based on the coordinate system of the polishing tool and the target model area to be polished;

[0055] S3, Define the region parameters of the two-dimensional plane region according to the workpiece model to be ground and the trajectory coordinate system to obtain the region to be planned corresponding to the two-dimensional plane region;

[0056] S4. Based on the trajectory processing parameters, the grinding trajectory of the planned area is planned to obtain the target grinding trajectory.

[0057] The operation in S1 above can, but is not limited to, connecting multiple second feature points to obtain a region in a two-dimensional plane. For example, if there are three second feature points corresponding to the target model area to be polished, connecting the three second feature points will result in a triangular region in the two-dimensional plane; or if there are four second feature points corresponding to the target model area to be polished, connecting the four second feature points will result in a quadrilateral region in the two-dimensional plane, and so on.

[0058] The coordinate system of the grinding tool mentioned in S2 above can be understood, but is not limited to, the coordinate system corresponding to the grinding tool model. Since grinding tools include various types (e.g., grinding wheels, flap wheels, cutting discs, grinding discs, etc.), there are also various grinding tool models. For different grinding tool models, there can be one or multiple corresponding coordinate systems. For example, assuming the grinding tool model is a grinding wheel model, during grinding, the grinding action is performed by the circumference of the grinding wheel. Therefore, for the grinding tool model, there can be multiple grinding tool coordinate systems, such as... Figure 2 As shown, assuming the grinding tool model is as follows: Figure 2 As shown in the image, the grinding wheel 202 has four corresponding coordinate systems, namely, as follows: Figure 2 The four points A, B, C, and D shown (point A is symmetrical to point D, and point B is symmetrical to point C) each correspond to a coordinate system, and... Figure 2The grinding tool coordinate system 204 corresponding to the grinding wheel 202 shown can be the coordinate system corresponding to point A, point B, point C, or point D on the grinding wheel 202. The acquisition (or determination) of the tool coordinate system 204 corresponds to the target model area to be ground. That is, in determining the target model area to be ground, it is necessary to determine the correspondence between the target model area to be ground and the model of the grinding tool. Specifically, this means determining any unplanned grinding trajectory target model area in the workpiece model, and also determining a point in the model of the grinding tool from which the grinding tool can completely grind the target model area. This point can be called a grinding point (e.g., a grinding point). Figure 2 (One of the four points A, B, C, and D shown) is used to determine the grinding point, and a grinding tool coordinate system is created based on this grinding point. Alternatively, the grinding point can be determined first from the model of the tool to be ground, and a grinding tool coordinate system can be created based on this grinding point. Then, multiple reference model regions corresponding to this grinding point are determined from multiple model regions to be ground, and any region without a planned grinding trajectory is determined from these multiple reference model regions as the target model region to be ground. The trajectory coordinate system needs to be created according to the grinding tool coordinate system and the model region to be ground. Therefore, determining the grinding tool coordinate system and the target model region corresponding to the grinding tool coordinate system are important.

[0059] The operations in S2 above specifically include:

[0060] S2-1, set any point within the target model area to be polished as the coordinate circle point of the trajectory coordinate system;

[0061] S2-2, set the direction opposite to the Z-axis in the grinding tool coordinate system as the Z-axis direction in the trajectory coordinate system;

[0062] S2-3, when the direction opposite to the X-axis in the grinding tool coordinate system is set as the X-axis direction of the trajectory coordinate system, the direction same as the Y-axis in the grinding tool coordinate system is set as the Y-axis direction of the trajectory coordinate system; or when the direction same as the X-axis in the grinding tool coordinate system is set as the X-axis direction of the trajectory coordinate system, the direction opposite to the Y-axis in the grinding tool coordinate system is set as the Y-axis direction of the trajectory coordinate system.

[0063] Which of the two scenarios in S2-3 is correct needs to be determined based on the trajectory processing parameters.

[0064] The operation in S3 above can be understood, but is not limited to, determining the spatial region of the two-dimensional plane region based on the workpiece model to be ground and the trajectory coordinate system, and determining the three-dimensional region from the workpiece model to be ground based on the two-dimensional plane region, that is, the planned region mentioned above (that is, it can be understood, but is not limited to, projecting the line or multiple points that are not on the surface of the part after connecting the second feature points onto the surface of the workpiece model to be ground, thereby obtaining the region on the surface of the workpiece to be ground that corresponds to the two-dimensional plane region). Specifically, it can be understood that not all the points on the two-dimensional plane region are on the surface of the workpiece model to be ground, but grinding is required to grind the surface. Since the workpiece model to be ground is a featureless model, when planning the grinding trajectory, although the target model region to be ground is determined, this region is only a non-operable region determined by calibration. Therefore, it is not possible to directly plan the grinding trajectory based on the target model region to be ground. The operations in S1 to S3 above can be understood as determining the operable region on the workpiece model to be ground that corresponds to the target model region to be ground, where grinding trajectory planning or subsequent processing can be performed.

[0065] The operation in S4 above is the operation of planning the grinding trajectory for the area to be planned based on the trajectory machining parameters. That is, the grinding trajectory planning is based on the tool path, machining accuracy and point distance, inspiration method, etc. For example, assuming the tool path is parallel reciprocating (Z) shape, the starting point of the grinding trajectory is determined according to the inspiration method parameters (and the trajectory coordinate system can be understood as, but is not limited to, the coordinate system of the starting point of the trajectory). Then, the next grinding point adjacent to the starting point of the grinding trajectory is determined according to the tool path, which can be called the reference grinding point. Then, the position of the reference grinding point corresponding to the starting point of the grinding trajectory is determined according to the machining accuracy and point distance. Then, the coordinate system of the grinding tool model at the reference point is determined. The trajectory coordinate system at the reference grinding point is determined in the same way as in S2. Then, the reference grinding point is determined as the starting point of the grinding trajectory. The next reference grinding point is determined in the same way as above... Different trajectory machining parameters generate different target grinding trajectories. The above is only an example. This application does not limit the detailed process of generating target grinding trajectories based on various different trajectory machining parameters.

[0066] Through the above-described embodiments of this application, a planar area that can be processed can be determined, thereby planning an accurate target grinding trajectory for the planar area and improving the accuracy of the target grinding trajectory.

[0067] As an optional implementation, the model of the workpiece to be ground is calibrated based on the grinding equipment model, the grinding tool model, multiple areas to be ground, and multiple first feature points to obtain the target model area to be ground, including:

[0068] S1. Based on multiple first feature points corresponding to multiple areas to be polished, perform position calibration on the workpiece model to be polished, and perform relative position calibration on the polishing equipment model, polishing tool model, and workpiece model to be polished.

[0069] S2, select multiple target feature points corresponding to the target area to be polished from multiple first feature points, wherein the target area to be polished is any area of ​​the multiple areas to be polished without a planned polishing trajectory;

[0070] S3. Match and calibrate the workpiece model to be polished based on multiple target feature points and the polishing tool model to obtain the target model area to be polished. The target model area to be polished corresponds to the target area to be polished. The matching calibration is used to determine the reachable area of ​​the polishing tool model from the workpiece model to be polished based on multiple target feature points.

[0071] The position calibration in S1 above can be understood, but is not limited to, calibrating the relative positions of multiple first feature points and the workpiece model to be polished. In this application, a three-point calibration is preferred, as this calibration method corresponds to a featureless workpiece model. The relative position calibration in S1 can be understood, but is not limited to, calibrating the relative positions of multiple first feature points and the workpiece model to be polished, and then calibrating the relative positions of these calibrated first feature points and the workpiece model as a whole (i.e., the workpiece model in relative position calibration) with the polishing tool model and the polishing equipment model. After calibration in S1, although the workpiece in the field environment is divided into regions, the dividing boundaries between the multiple regions corresponding to the multiple regions obtained from the region division are not visible in the imported workpiece model. Furthermore, polishing trajectory planning cannot be performed directly, and a single region of the workpiece model cannot be selected; only the entire workpiece model can be selected.

[0072] The operation in S2 above can be understood, but is not limited to, that after calibration, multiple first feature points correspond to multiple areas to be polished (because the workpiece to be polished corresponds to the workpiece model to be polished, the multiple areas to be polished here can be understood as areas divided in the workpiece to be polished, or as areas in the workpiece model to be polished), each area to be polished corresponds to multiple first feature points, and the operation in S2 is to determine the target feature point corresponding to the target area to be polished from the multiple first feature points.

[0073] The matching calibration operation in S2 above can be understood, but is not limited to, determining the target model area to be polished where the workpiece model can be completely polished (specifically, this includes first determining multiple polishing points in the workpiece model, then determining multiple model areas to be polished corresponding to each polishing point, and then determining the model area to be polished corresponding to any polishing point as the target model area to be polished; or it can first take multiple model areas to be polished as the target model area to be polished, then determine the polishing point that can be completely polished for the target model area to be polished from multiple polishing points, and determine the polishing tool coordinate system based on the polishing point. The order of determining the target model area to be polished and the polishing point corresponding to the target model area to be polished is not limited in this application).

[0074] Through the above-described embodiments of this application, it can be ensured that the position of the grinding model is consistent with that of the grinding equipment, grinding tools and workpiece to be ground in the field environment. It can also be ensured that the planned target grinding trajectory can perform complete and accurate grinding on the corresponding target area to be ground (the area in the workpiece to be ground that corresponds to the area of ​​the target model to be ground in the field environment), thereby improving the accuracy of grinding curved surfaces using the planned grinding trajectory.

[0075] As an optional implementation, before calibrating the workpiece model to be ground based on the grinding equipment model, grinding tool model, multiple areas to be ground, and multiple first feature points, the method further includes: performing a smoothing operation on the workpiece model to be ground, and determining the model obtained by the smoothing operation as the workpiece model to be ground, wherein the workpiece model to be ground is used to process the model surface of the workpiece model to be ground into a smooth surface.

[0076] This application does not limit the specific operation process of the above smoothing operation.

[0077] Through the above-described embodiments of this application, the use of smooth operation can avoid generating grinding trajectories that are unreachable or ungrindable positions of the workpiece model, thereby improving the accuracy of the planned grinding trajectory.

[0078] As an optional implementation, after obtaining the target grinding trajectory, the method further includes:

[0079] S1, Generate a polishing program based on the target polishing trajectory;

[0080] S2, according to the grinding program, control the grinding equipment model and grinding tool model to simulate grinding the workpiece model to be ground to obtain the simulated grinding effect;

[0081] S3, if the simulated grinding effect meets the grinding process requirements, the grinding program is imported into the grinding equipment and the grinding tools linked with the grinding equipment for actual grinding.

[0082] S4. If the simulated grinding effect does not meet the grinding process requirements, adjust the trajectory planning parameters in the offline programming software and perform grinding trajectory planning based on the adjusted trajectory planning parameters. The trajectory planning parameters include: trajectory processing parameters, area parameters, trajectory coordinate system, and process parameters. The process parameters are used to indicate the start and stop status of the grinding tool when grinding the workpiece.

[0083] The operations in S1 to S4 above can be understood, but are not limited to, as a simulation of grinding along the generated target grinding trajectory. When creating the simulation model, the actual environment can be imported into the offline programming software. This includes other equipment, parts, tools, etc., besides the grinding equipment (e.g., grinding robot), grinding tools, and the workpiece to be ground. This verifies whether grinding according to the target grinding trajectory is practically usable in the actual environment and will not cause problems. The start / stop states mentioned above can be understood, but are not limited to, as additionally set parameters for the workpiece to be ground, indicating whether it is in an on or off state when lifted or lowered during grinding. The setting and definition of the start / stop state parameters correspond to the grinding process requirements and can be flexibly set according to these requirements.

[0084] The operations in S2-S4 above can be understood as follows: after generating the grinding path, firstly, through simulation, detect whether the path has problems such as interference collisions, unreachability, exceeding limits, singularities, or positioning anomalies. If an error is detected, first check whether the process layout parameters (such as coordinate system, part position, tool TCP, etc.) are consistent with the simulation environment; if the layout is correct, optimize and adjust the path, including modifying key points, optimizing posture, motion curves, or calibrating the coordinate system. After optimization, simulation verification is required until multiple consecutive tests show no errors and meet the accuracy and motion performance requirements. If the problem persists after multiple iterations, the feasibility of the process layout needs to be reassessed.

[0085] In addition to the simulated grinding operation, this application also includes generating a trajectory point program (i.e., the grinding program in S1) in the offline programming simulation software, importing it into the actual field robot trajectory for verification, and if it does not meet the process requirements, returning to the simulated grinding process of S1 to S4 to check and optimize the trajectory, and if it meets the process requirements, the robot will run automatically.

[0086] Through the above-described embodiments of this application, the above simulation method ensures the accuracy of the target grinding trajectory in the field environment, thereby avoiding the situation where the generated target grinding trajectory cannot be used in the actual field environment and improving the accuracy of actual grinding.

[0087] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0088] According to another aspect of the present invention, a grinding trajectory planning apparatus for implementing the above-described grinding trajectory planning method is also provided, such as... Figure 3 As shown, the device includes:

[0089] Import unit 302 is used to import a grinding model and multiple first feature points into offline programming software. The grinding model includes a grinding equipment model, a grinding tool model, and a workpiece model to be ground. The multiple first feature points are feature points corresponding to multiple areas to be ground of the workpiece.

[0090] The calibration unit 304 is used to calibrate the workpiece model to be polished based on the polishing equipment model, the polishing tool model, multiple areas to be polished, and multiple first feature points to obtain the target model area to be polished.

[0091] Definition unit 306 is used to define trajectory machining parameters in the trajectory machining parameter display interface of offline programming software;

[0092] The trajectory planning unit 308 is used to determine multiple second feature points from the target model area to be polished according to the trajectory processing parameters, and to perform polishing trajectory planning based on the target model area to be polished and the multiple second feature points to obtain the target polishing trajectory, wherein the multiple second feature points are not on the same straight line.

[0093] The specific methods of execution of each unit in the above device embodiments have been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0094] According to another aspect of the present invention, an electronic device for implementing the above-described polishing trajectory planning method is also provided. This electronic device may be as follows: Figure 4 The terminal device or server shown. This embodiment uses this electronic device as an example for illustration. Figure 4As shown, the electronic device includes: at least one processor 404; and a memory 402 communicatively connected to at least one processor 404; wherein the memory 402 stores a computer program that can be executed by at least one processor 404, and the computer program is executed by at least one processor 404 to cause at least one processor 404 to perform the steps in any of the above embodiments of the grinding trajectory planning method.

[0095] Optionally, in this embodiment, the aforementioned electronic device may be located in at least one of a plurality of network devices in a computer network.

[0096] Optionally, in this embodiment, the processor can be configured to execute the various steps in the grinding trajectory planning method via a computer program.

[0097] Alternatively, as those skilled in the art will understand, Figure 4 The structure shown is for illustrative purposes only. Electronic devices can also be smartphones (such as Android phones, iOS phones, etc.), tablets, PDAs, mobile internet devices (MIDs), PADs, and other terminal devices. Figure 4 This does not limit the structure of the aforementioned electronic devices. For example, the electronic device may also include components that are more... Figure 4 The more or fewer components shown (such as network interfaces, etc.), or having the same Figure 4 The different configurations shown.

[0098] The memory 402 can be used to store software programs and modules, such as the program instructions / modules corresponding to the grinding trajectory planning method and apparatus in this embodiment of the invention. The processor 404 executes various functional applications and data processing by running the software programs and modules stored in the memory 402, thereby realizing the above-mentioned grinding trajectory planning method. The memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 402 may further include memory remotely located relative to the processor 404, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Specifically, the memory 402 may be used, but is not limited to, to store various models and data involved in this application. As an example, such as Figure 4 As shown, the memory 402 may include, but is not limited to, the import unit 302, calibration unit 304, definition unit 306, and trajectory planning unit 308 from the grinding trajectory planning device. Furthermore, it may include, but is not limited to, other module units from the welding simulation device, which will not be elaborated upon in this example.

[0099] Optionally, the transmission device 406 described above is used to receive or send data via a network. Specific examples of the network described above may include wired networks and wireless networks. In one example, the transmission device 406 includes a Network Interface Controller (NIC), which can be connected to other network devices and a router via a network cable to communicate with the Internet or a local area network. In another example, the transmission device 406 is a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0100] In addition, the aforementioned electronic device also includes a display 408 and a connection bus 410 for connecting the various module components in the aforementioned electronic device.

[0101] In other embodiments, the aforementioned terminal device or server can be a node in a distributed system, wherein the distributed system can be a blockchain system, which is a distributed system formed by connecting multiple nodes through network communication. The nodes can form a peer-to-peer (P2P) network, and any form of computing device, such as a server, terminal, or other electronic device, can become a node in the blockchain system by joining this peer-to-peer network.

[0102] According to one aspect of this application, a computer program product is provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions provided in embodiments of this application.

[0103] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0104] According to one aspect of this application, a computer-readable storage medium is provided, wherein a processor of a computer device reads computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the above-described polishing trajectory planning method.

[0105] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the grinding trajectory planning method described above.

[0106] Those skilled in the art will understand that all or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory (FM), hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0107] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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 one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0108] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units described above 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, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0110] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0111] Furthermore, the functional units in the various embodiments of the present invention 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.

[0112] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A grinding trajectory planning method, characterized in that, include: Import a grinding model and multiple first feature points into offline programming software. The grinding model includes a grinding equipment model, a grinding tool model, and a workpiece model to be ground. The multiple first feature points are feature points corresponding to multiple areas to be ground on the workpiece. The target model area to be polished is obtained by calibrating the model of the workpiece to be polished based on the model of the polishing equipment, the model of the polishing tool, the multiple areas to be polished, and the multiple first feature points. Define trajectory machining parameters in the trajectory machining parameter display interface of the offline programming software; Multiple second feature points are determined from the target model area to be polished based on the trajectory processing parameters, and a polishing trajectory is planned based on the target model area to be polished and the multiple second feature points to obtain the target polishing trajectory, wherein the multiple second feature points are not on the same straight line.

2. The method according to claim 1, characterized in that, Based on the target model area to be polished and multiple second feature points, a polishing trajectory is planned to obtain the target polishing trajectory, including: Connecting multiple second feature points yields a two-dimensional planar region; Obtain the coordinate system of the polishing tool, and construct a trajectory coordinate system based on the coordinate system of the polishing tool and the target model area to be polished; Based on the workpiece model to be polished and the trajectory coordinate system, the region parameters of the two-dimensional plane region are defined to obtain the region to be planned corresponding to the two-dimensional plane region. Based on the trajectory processing parameters, a grinding trajectory is planned for the area to be planned, and the target grinding trajectory is obtained.

3. The method according to claim 2, characterized in that, Constructing a trajectory coordinate system based on the grinding tool coordinate system and the target model area to be ground includes: Set any point within the target model area to be polished as the coordinate circle of the trajectory coordinate system; The direction opposite to the Z-axis in the coordinate system of the grinding tool is set as the Z-axis direction of the trajectory coordinate system; When the direction opposite to the X-axis in the grinding tool coordinate system is set as the X-axis direction of the trajectory coordinate system, the direction the same as the Y-axis in the grinding tool coordinate system is set as the Y-axis direction of the trajectory coordinate system. When the direction that is the same as the X-axis in the grinding tool coordinate system is set as the X-axis direction of the trajectory coordinate system, the direction that is opposite to the Y-axis in the grinding tool coordinate system is set as the Y-axis direction of the trajectory coordinate system.

4. The method according to claim 1, characterized in that, Based on the grinding equipment model, the grinding tool model, multiple areas to be ground, and multiple first feature points, the workpiece model to be ground is calibrated to obtain the target model area to be ground, including: Based on multiple first feature points corresponding to multiple areas to be polished, the position of the workpiece model to be polished is calibrated, and the relative positions of the polishing equipment model, the polishing tool model, and the workpiece model to be polished are calibrated. Multiple target feature points corresponding to the target area to be polished are selected from multiple first feature points, wherein the target area to be polished is any area of ​​the multiple areas to be polished without a planned polishing trajectory; The workpiece model to be polished is matched and calibrated based on multiple target feature points and the polishing tool model to obtain the target model region to be polished, wherein the target model region to be polished corresponds to the target polishing area, and the matching calibration is used to determine the reachable area of ​​the polishing tool model from the workpiece model to be polished based on multiple target feature points.

5. The method according to claim 1, characterized in that, The trajectory processing parameters include: processing accuracy and point distance parameters, processing surface parameters, avoidance surface parameters, processing boundary parameters, and trajectory parameters. The processing surface parameters are used to determine the workpiece model to be ground for the planned grinding trajectory. The avoidance surface parameters are used to determine the surfaces to be avoided when planning the grinding trajectory. The processing boundary parameters are used to determine multiple second feature points. The trajectory parameters are used to indicate the planning requirements of the grinding trajectory.

6. The method according to claim 1, characterized in that, Before calibrating the workpiece model to be polished based on the polishing equipment model, the polishing tool model, the plurality of areas to be polished, and the plurality of first feature points, the process further includes: A smoothing operation is performed on the workpiece model to be polished, and the model obtained by the smoothing operation is determined as the workpiece model to be polished, wherein the workpiece model to be polished is used to process the model surface of the workpiece model to be polished into a smooth surface.

7. The method according to claim 1, characterized in that, Before importing the polishing model and multiple first feature points into the offline programming software, the following steps are also included: The workpiece to be polished is divided into multiple areas according to the polishing process requirements. Each area to be polished is marked with multiple first feature points to obtain multiple first feature points corresponding to each area to be polished, wherein the multiple first feature points are not on the same straight line; A scanning tool is used to scan multiple first feature points on the workpiece to be polished, thereby obtaining multiple first feature points including their relative positional relationship with the workpiece to be polished.

8. The method according to claim 1, characterized in that, After obtaining the target polishing trajectory, the process also includes: A polishing program is generated based on the target polishing trajectory; According to the grinding program, the grinding equipment model and the grinding tool model are controlled to perform simulated grinding on the workpiece model to be ground, so as to obtain the simulated grinding effect. If the simulated grinding effect meets the grinding process requirements, the grinding program is imported into the grinding equipment and the grinding tools linked to the grinding equipment for actual grinding. If the simulated grinding effect does not meet the grinding process requirements, the trajectory planning parameters are adjusted in the offline programming software, and the grinding trajectory is planned according to the adjusted trajectory planning parameters. The trajectory planning parameters include: trajectory processing parameters, area parameters, trajectory coordinate system, and process parameters. The process parameters are used to indicate the start and stop status of the grinding tool when the grinding tool grinds the workpiece to be ground.

9. A grinding trajectory planning device, characterized in that, include: An import unit is used to import a grinding model and multiple first feature points into an offline programming software. The grinding model includes a grinding equipment model, a grinding tool model, and a workpiece model to be ground. The multiple first feature points are feature points corresponding to multiple areas to be ground on the workpiece. The calibration unit is used to calibrate the workpiece model to be polished based on the polishing equipment model, the polishing tool model, multiple areas to be polished, and multiple first feature points to obtain the target model area to be polished. Define a unit, used to define trajectory machining parameters in the trajectory machining parameter display interface of offline programming software; The trajectory planning unit is used to determine multiple second feature points from the target model area to be polished according to the trajectory processing parameters, and to perform polishing trajectory planning based on the target model area to be polished and the multiple second feature points to obtain the target polishing trajectory, wherein the multiple second feature points are not on the same straight line.

10. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the grinding trajectory planning method according to any one of claims 1-8.

Images