Multi-layer cutting speed dynamic control and path planning method and device
By using zoned path planning and dynamic speed control, combined with features such as the position, area, and critical points of the outer rectangle of the cut pieces, the problems of disordered paths and rigid speed in multi-layer cutting are solved, thereby improving cutting efficiency and accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-21
- Publication Date
- 2026-03-24
AI Technical Summary
Multi-layer cutting processes suffer from problems such as disordered path planning, rigid speed control, and insufficient utilization of cut piece information, resulting in low equipment efficiency, high precision errors, and high defect rates.
By using zoned path planning and dynamic speed control, combined with features such as the position, area, and critical points of the bounding rectangle of the cut pieces, the cutting area is divided and the cutting sorting results and speed control strategies are determined, including strategies such as cutting while moving, slowing down at critical points, and slow cutting of small pieces.
It significantly improves cutting efficiency, reduces accuracy errors and defect rates, ensures the safety and accuracy of the cutting process, and adapts to complex cutting scenarios.
Smart Images
Figure CN121716147A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of automation control technology, and relates to a method and device for multi-layer speed dynamic control and path planning. Background Technology
[0002] Traditional methods in multi-layer cutting processes have significant drawbacks: First, path planning is disordered, often employing random or unidirectional traversal without considering the location of the cut pieces, leading to frequent equipment movement across areas and low efficiency. Second, speed control is rigid; fixed speeds cannot adapt to the characteristics of the cut pieces, resulting in small-sized pieces easily shifting, pieces exceeding the platform easily colliding, and complex contours easily developing rough edges. Third, the use of cut piece information is insufficient, relying solely on the basic contour without considering the position and area of the circumscribed rectangle for collaborative planning, resulting in poor adaptability. The increased inertia after multiple layers of fabric are stacked amplifies these problems, leading to high precision errors and high defect rates. Therefore, a technical solution that combines cut piece information, zoned path planning, and dynamic speed adjustment is urgently needed. Summary of the Invention
[0003] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a multi-layer dynamic speed control and path planning method.
[0004] The objective of this invention can be achieved through the following technical solution: a multi-layer cutting speed dynamic control and path planning method, comprising: Obtain the parameters of the cutting area window, initialize the partition length, and the cutting piece information, including the position of the outer rectangle of the cutting piece and the cutting piece area; The cutting area is divided according to the partition length, and the corresponding cutting sorting result is determined in each cutting area according to the position of the bounding rectangle and the area of the cutting piece. During the cutting process based on the cutting sorting results, a corresponding cutting speed control strategy is determined based on the parameters and the cutting piece information.
[0005] As an optional embodiment of the present invention, the cutting area is divided according to the partition length, and the cutting sorting result of the corresponding cutting piece is determined within each cutting area according to the position of the circumscribed rectangle and the area of the cutting piece, including: The cutting area is divided in the first direction according to the partition length; The cutting order of the pieces within each cutting area is determined based on the position of the bounding rectangle of each piece in the second direction, wherein the first direction and the second direction are perpendicular to each other; Based on the area of the cut pieces within each cutting area, determine whether a piece is a priority cut piece, and adjust the cutting sorting result in response to including pieces that need priority cutting.
[0006] As an optional embodiment of the present invention, during the cutting process based on the cutting sorting result, a corresponding cutting speed control strategy is determined based on the parameters and the cut piece information, including: The cut piece information also includes the path points of the cut pieces; Determine whether the cut piece is located within the cutting area window based on the position of the bounding rectangle of the cut piece and the parameters; Traverse the critical region corresponding to the coordinates of the path point, and determine whether the path point is a critical point according to the preset critical conditions. In response to one of the following triggering conditions: part or all of the cut piece is located outside the cutting area window, the path point is a critical point, or the cut piece needs to be cut first, a corresponding cutting speed control strategy is determined based on the preset cutting speed corresponding to the triggering condition.
[0007] As an optional embodiment of the present invention, it further includes: In response to two or more triggering conditions, namely, that part or all of the cut piece is outside the cutting area window, that the path point is a critical point, or that the cut piece needs to be cut first, the preset cutting speeds corresponding to the triggering conditions are compared, and the corresponding cutting speed control strategy is determined based on the minimum preset cutting speed.
[0008] As an optional embodiment of the present invention, determining the corresponding cutting speed control strategy during the cutting process based on the cutting sorting results further includes: Calculate the cutting speed difference between the current path point of the cut piece and the previous and next path points, as well as the cutting speed difference between the previous and next path points. In response to the fact that the clipping speed difference between the current path point and the previous path point and the clipping speed difference between the current path point and the next path point are both greater than a preset speed difference threshold, and the clipping speed difference between the previous path point and the next path point is less than the preset speed difference threshold, the current path point has a speed spike. When there is a speed peak at the current path point, the clipping speed of the current path point is determined based on the distances between the current path point and the previous path point and the next path point, respectively.
[0009] As an optional embodiment of the present invention, when there is a speed peak at the current path point, the trimming speed of the current path point is determined based on the distances between the current path point and the previous path point and the subsequent path point, including: Calculate the total distance between the current path point of the cut piece and the previous and next path points; In response to the total distance being less than a preset total distance threshold, the clipping speed of the current path point is set to the average of the sum of the clipping speeds of the previous path point and the next path point.
[0010] As an optional embodiment of the present invention, traversing the critical region corresponding to the coordinates of the path point, and determining whether the path point is a critical point according to a preset critical condition, includes: In response to the current path point being a non-critical point, the previous path point and the next path point being both critical points, and the current path point being less than a preset distance threshold from both the previous path point and the next path point, the current path point is set as a critical point.
[0011] This invention also proposes a multi-layer cutting speed dynamic control and path planning device, comprising: The information acquisition module is used to acquire the parameters of the cutting area window, the initial partition length, and the cutting piece information, including the position of the outer rectangle of the cutting piece and the area of the cutting piece; The sorting module is used to divide the cutting area according to the partition length, and determine the corresponding cutting sorting result in each cutting area according to the position of the bounding rectangle and the area of the cutting piece; The speed control module is used to determine the corresponding cutting speed control strategy based on the parameters and the piece information during the cutting process according to the cutting sorting results.
[0012] The present invention also provides a computer-readable storage medium including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the multi-layer speed dynamic control and path planning method described above.
[0013] The present invention also provides an electronic device, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to implement the aforementioned multi-layer dynamic speed control and path planning method when executing executable instructions.
[0014] Compared with existing technologies, this invention achieves full-process optimization of multi-layer cutting through an integrated design of "zoning path planning + dynamic speed control + multi-feature collaborative recognition". In terms of path planning, regions are divided by the position of the outer rectangle of the cut pieces and ordered in an orderly manner along the vertical direction, which greatly reduces the cross-regional movement of the cutting equipment between different cut pieces and significantly improves cutting efficiency. In terms of speed control, based on features such as whether the cut piece exceeds the window, whether there is a critical point, and whether it is a small-sized cut piece, a corresponding exclusive speed strategy is triggered. When multiple features conflict, the more suitable low speed is selected first, taking into account both the safety and accuracy of the cutting process. Attached Figure Description
[0015] Figure 1 This is a flowchart of the multi-layer cutting speed dynamic control and path planning method according to an embodiment of the present invention; Figure 2 This is a cut piece distribution diagram according to an embodiment of the present invention; Figure 3 This is a block diagram of the multi-layer cutting speed dynamic control and path planning device according to an embodiment of the present invention. Detailed Implementation
[0016] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.
[0017] Example 1 Based on the technical problems highlighted in the background, this embodiment proposes a multi-layer dynamic speed control and path planning method, such as... Figure 1 As shown, it includes: S1, obtain the parameters of the cutting area window, initialize the partition length and the cutting piece information, the cutting piece information includes the position of the outer rectangle of the cutting piece and the cutting piece area; S2, Divide the cutting area according to the partition length, and determine the corresponding cutting sorting result in each cutting area according to the position of the bounding rectangle and the area of the cutting piece; S3, during the cutting process based on the cutting sorting results, a corresponding cutting speed control strategy is determined based on the parameters and the cutting piece information.
[0018] Before performing multi-layer cutting, the cutting order of each piece needs to be arranged, and a corresponding cutting speed control strategy needs to be determined based on the piece information to avoid machine malfunctions and downtime. Specifically, such as... Figure 2 As shown in the diagram, the largest rectangle represents the cutting area window. The cut pieces are not all the same size. Cut pieces numbered 1 and 2 are located within the cutting area window, while cut pieces numbered 3, 4, and 5 are partially outside the window and need to be cut while moving through the window. Therefore, when there are a large number of cut pieces, the cutting order of each piece needs to be determined based on the parameters of the cutting area window, the position of the bounding rectangle of each piece, and the area of the piece. This avoids the machine moving back and forth aimlessly, thereby improving the machine's cutting efficiency. When the machine cuts according to the cutting order, for each piece to be cut, the machine determines whether it needs to be cut while moving through the window, whether it contains critical points, and whether it is a small piece that needs to be cut first. The cutting speed control strategy for each piece is determined by considering all these factors.
[0019] Preferably, the cutting area is divided according to the partition length, and the cutting sorting result of the corresponding piece is determined within each cutting area based on the position of the circumscribed rectangle and the area of the piece, including: The cutting area is divided in the first direction according to the partition length; The cutting order of the pieces within each cutting area is determined based on the position of the bounding rectangle of each piece in the second direction, wherein the first direction and the second direction are perpendicular to each other; Based on the area of the cut piece within each cutting area, determine whether it is a cut piece that needs to be cut first, and adjust the cutting sorting result in response to including cut pieces that need to be cut first.
[0020] Dividing the cutting area is to prevent the machine from running across areas without processing, thus improving cutting efficiency. In this embodiment, the cutting area is divided according to the initial partition length. For example, taking the entire layout as 300cm horizontally and 10 pieces of cutting information as an example, as shown in Table 1, the cutting information includes the position of the bounding rectangle of each cutting piece, the area of the bounding rectangle, the area of the cutting piece, whether it is a small cutting piece, whether it exceeds the window information, and whether it has a critical point information.
[0021] Table 1: Cut Piece Information Sheet Taking a two-dimensional coordinate system as an example, in this embodiment, the first direction is the left-right direction relative to the X-axis, and the second direction is the up-down direction relative to the Y-axis. The first and second directions are perpendicular to each other. The initial partition length GRID_SIZE = 100cm is set. The entire layout to be cropped is divided from left to right in the X-axis according to GRID_SIZE. Therefore, cropping area 1 is X = 0-100cm, cropping area 2 is X = 100-200cm, and cropping area 3 is X = 200-300cm. Based on the divided cropping areas, the position of the bounding rectangle in the Y-axis is used to determine which pieces are in each cropping area, and the parameters of the cropping area window are used to determine whether the pieces exceed the window size. For example, the cropping area window is represented as... The position of the bounding rectangle of the nth piece is represented as Assuming the cutting area window has left=0cm, bottom=0cm, right=200cm, and top=150cm, then cutting area 1 includes pattern pieces 1, 2, 5, and 10; cutting area 2 includes pattern pieces 6, 7, and 8; and cutting area 3 includes pattern pieces 3, 4, and 9. All pattern pieces in cutting areas 1 and 2 are within the cutting area window, while all pattern pieces in cutting area 3 extend beyond the cutting area window.
[0022] The cutting order of the pieces in cutting area 1 is sorted according to the rule of up-and-down movement in the Y direction and the position of the circumscribed rectangle in the Y direction. The initial cutting order of cutting area 1 is determined to be piece 2, piece 1, piece 10, and piece 5. In this embodiment, the preset piece area threshold is 10cm². 2 When the area of the cut piece is less than or equal to 10cm 2If we set the smaller pieces to be cut first, and compare the area of the pieces in cutting area 1 with the area threshold, we can see that pieces 2, 5, and 10 are all small pieces and should be cut first. Based on the ascending order of piece area, the final cutting order for cutting area 1 is: piece 10, piece 5, piece 2, piece 1. Similarly, the final cutting order for cutting area 2 is: piece 8, piece 6, piece 7. Cutting area 3 has no small pieces, and since all its pieces extend beyond the cutting window, to avoid moving across pieces, they are sorted from left to right in the X direction, resulting in: piece 3, piece 4, piece 9.
[0023] By employing a two-tiered planning approach of "first-direction partitioning (e.g., X-direction) + second-direction sorting (e.g., Y-direction)," the cut pieces are divided into regions, and each region is traversed in an orderly manner along a vertical direction, thus solving the traditional problem of "cross-regional displacement." The area of each cut piece determines its priority for cutting (e.g., smaller pieces are prioritized), preventing displacement of small-sized pieces due to fabric loosening during the later stages of cutting.
[0024] Preferably, during the cutting process based on the cutting sorting result, a corresponding cutting speed control strategy is determined based on the parameters and the cut piece information, including: The cut piece information also includes the path points of the cut pieces; Determine whether the cut piece is located within the cutting area window based on the position of the bounding rectangle of the cut piece and the parameters; Traverse the critical region corresponding to the coordinates of the path point, and determine whether the path point is a critical point according to the preset critical conditions. In response to one of the following triggering conditions: part or all of the cut piece is located outside the cutting area window, the path point is a critical point, or the cut piece needs to be cut first, a corresponding cutting speed control strategy is determined based on the preset cutting speed corresponding to the triggering condition.
[0025] The path points of the cut piece represent the cutting path. In this embodiment, the threshold of the critical region is set to T. When the machine performs cutting, for each path point of the current cut piece ( ), traverse by path point ( A square region centered at [T, T] is defined. If a path point that meets preset critical conditions is found, it is marked as a critical point. The preset critical conditions in this embodiment are as follows: Whether there are any bounding rectangles of other cut pieces within the critical region, and the minimum distance between the two cut pieces is less than a preset distance, such as 5mm; whether there are any turning points of the cutting path within the critical region, and the turning angle is greater than a preset angle value, such as 120°; whether there are any boundaries of the cutting area window within the critical region, such as near the edge of the table. It should be noted that the preset critical conditions can be adjusted according to actual conditions.
[0026] When some or all of the cut pieces are outside the cutting window, have a critical point, or are small pieces, the cutting speed needs to be reduced. For example, the initial normal cutting speed is preset to 50cm / s; the cutting speed while moving is 25cm / s; the critical speed is 20cm / s; the slow cutting speed for small pieces is 15cm / s; and the speed gradient duration is 0.5s.
[0027] For a piece of fabric that is partially or entirely outside the cutting window, has no critical point, and is not a small piece, i.e., only meets the trigger condition that the piece of fabric is partially or entirely outside the cutting window, the corresponding cutting speed control strategy is to start the machine to slow down at the cutting point of the piece of fabric. The initial normal cutting speed is adjusted to the cutting speed while moving, and the speed at which the piece of fabric moves into the window is also the cutting speed while moving. Once the piece of fabric is completely inside the cutting window, the speed is gradually increased to the normal cutting speed to complete the subsequent cutting.
[0028] For cut pieces that have a critical point, are entirely within the cutting area window, and are not small pieces, i.e., only meet the trigger condition of having a critical point, the corresponding cutting speed control strategy is to cut at a constant initial normal cutting speed, determine the position to start smooth deceleration (i.e. how far from the critical point to start deceleration) based on the speed gradient duration and the critical speed, decelerate to the critical speed of 20cm / s, and after cutting past the critical point, start smooth acceleration, gradually recovering from 20cm / s to 50cm / s based on the speed gradient duration, and cut the remaining part.
[0029] For small pieces that are entirely within the cutting area window and have no critical points, i.e., only the trigger condition of being small pieces is met, the corresponding cutting speed control strategy is that the machine adjusts the initial normal cutting speed to a small piece slow cutting speed of 15cm / s at the cutting point of the piece, and cuts at this speed uniformly.
[0030] By determining whether the position of the circumscribed rectangle exceeds the window, determining whether the path point traversal is a critical point, and determining whether the area of the cut piece should be prioritized for cutting, the system accurately identifies the three key features of the cut piece and triggers the strategies of "cutting while moving", "critical speed reduction", and "slow cutting of small pieces" respectively, thus solving the problem that the traditional fixed speed cannot adapt to complex scenarios.
[0031] Preferably, it further includes: In response to two or more triggering conditions, namely, that part or all of the cut piece is outside the cutting area window, that the path point is a critical point, or that the cut piece needs to be cut first, the preset cutting speeds corresponding to the triggering conditions are compared, and the corresponding cutting speed control strategy is determined based on the minimum preset cutting speed.
[0032] The following situations occur when two or more trigger conditions are met: The cut piece is partially or entirely outside the cutting area window and has a critical point, but is not a small piece; the cut piece is partially or entirely outside the cutting area window and is a small piece, but has no critical point; the cut piece has a critical point and is a small piece, but is entirely within the cutting area window; the cut piece is partially or entirely outside the cutting area window and has a critical point, and is a small piece. For each of these situations, a preset cutting speed is compared based on the minimum preset cutting speed to determine the cutting speed control strategy. For example, the preset cutting speed corresponding to the cut piece being partially or entirely outside the cutting area window is a cutting speed of 25cm / s while moving; when the cut piece has a critical point, the preset cutting speed is a critical speed of 20cm / s; when the cut piece is a small piece, the preset cutting speed is a slow cutting speed of 15cm / s. Comparison shows that the slow cutting speed for small pieces is the lowest. Therefore, when the triggering condition for a small piece is met—for example, if the piece is partially or entirely outside the cutting window and is small, without a critical point—the corresponding cutting speed control strategy is to reduce the machine's speed starting at the cutting point. The initial normal cutting speed is adjusted to the slow cutting speed for small pieces, and the speed at which the piece moves into the window is also the slow cutting speed for small pieces. Once the piece is completely inside the cutting window, the table stops moving, and the slow cutting speed is maintained to complete the subsequent cutting. Conversely, if the piece is partially or entirely outside the cutting window and has a critical point, but is not a small piece, the corresponding cutting speed control strategy is to reduce the machine's speed starting at the cutting point. The initial normal cutting speed gradually decreases to the critical speed, and the speed at which the piece moves into the window also decreases to 20 cm / s. When the piece is completely inside the cutting window, the table stops moving. After cutting past the critical point, the cutting speed gradually increases from 20 cm / s to 50 cm / s to complete the subsequent cutting.
[0033] Clearly define the rule of "taking the minimum preset cutting speed when multiple triggering conditions (such as superwindow + critical point)" to avoid speed conflicts between different strategies (e.g., when the cutting speed of 25cm / s during movement conflicts with the critical speed of 20cm / s, take 20cm / s), ensuring the uniqueness and safety of speed control. The minimum cutting speed strategy can simultaneously cover multiple risks (such as collision risk of superwindow + accuracy risk of critical point). In complex scenarios (such as small-sized cut pieces with superwindow + critical point), it can still ensure smooth cutting at low speed, further reducing the defect rate.
[0034] Preferably, during the cutting process based on the cutting sorting results, determining the corresponding cutting speed control strategy further includes: Calculate the cutting speed difference between the current path point of the cut piece and the previous and next path points, as well as the cutting speed difference between the previous and next path points. In response to the fact that the clipping speed difference between the current path point and the previous path point and the clipping speed difference between the current path point and the next path point are both greater than a preset speed difference threshold, and the clipping speed difference between the previous path point and the next path point is less than the preset speed difference threshold, the current path point has a speed spike. When there is a speed peak at the current path point, the clipping speed of the current path point is determined based on the distances between the current path point and the previous path point and the next path point, respectively.
[0035] To prevent cutting errors caused by excessive speed differences during the cutting process, this embodiment also proposes a corresponding cutting speed control strategy. Specifically, the preset speed difference threshold is... The current path point clipping speed is The clipping speeds for the front path point and the back path point are respectively and Then the clipping speed differences between the current path point and the previous and next path points are respectively: ; The difference in clipping speed between the previous path point and the next path point is: A velocity spike is considered to exist at the current path point if all of the following conditions are met: ; ; .
[0036] Speed smoothing is performed based on the distances of the current path point to the previous and next path points, and the clipping speed of the current path point is adjusted accordingly.
[0037] By detecting differences in cutting speed, speed spikes are identified and addressed to avoid inertial strain caused by sudden speed changes, thus improving cutting stability. Cutting speed is determined based on path point distances, making speed variations more closely match the cutting path, reducing blade vibration, and further improving cutting accuracy. In scenarios where the cut piece contour changes frequently (such as multi-turn cut pieces), it effectively avoids frequent speed fluctuations caused by multiple critical points, ensuring a continuous cutting process and improving processing efficiency.
[0038] Preferably, when there is a speed peak at the current path point, the trimming speed of the current path point is determined based on the distances between the current path point and the previous and subsequent path points, including: Calculate the total distance between the current path point of the cut piece and the previous and next path points; In response to the total distance being less than a preset total distance threshold, the clipping speed of the current path point is set to the average of the sum of the clipping speeds of the previous path point and the next path point.
[0039] If a speed spike exists at the current path point, and the sum of the distances to the previous and next path points (i.e., the total distance) is less than a preset total distance threshold, then the clipping speed of the current path point is set to the average of the clipping speeds of the previous and next path points. Let the coordinates of the current path point be... The coordinates of the previous path point and the next path point are respectively and The total distance threshold is The distances between the current path point and the previous and next path points are respectively: ; .
[0040] if Then the clipping speed of the current path point is set to: .
[0041] The average cutting speed strategy eliminates sudden speed changes, ensuring cutting accuracy, while avoiding excessive speed reduction, thus ensuring cutting efficiency.
[0042] Preferably, traversing the critical region corresponding to the coordinates of the path point, and determining whether the path point is a critical point according to a preset critical condition, includes: In response to the current path point being a non-critical point, the previous path point and the next path point being both critical points, and the current path point being less than a preset distance threshold from both the previous path point and the next path point, the current path point is set as a critical point.
[0043] If the current path point is not a critical point, but the previous and next path points are both critical points, and the distance between the current path point and the previous and next path points is less than a preset distance threshold, then the current path point is set as a critical point, and the clipping is performed according to the critical speed.
[0044] For scenarios where "the preceding and following path points are critical points, and the intermediate point is not a critical point but is close to it" (such as cutting pieces with continuous small turns), the intermediate point is set as the critical point. This avoids traditional recognition methods from missing key positions (such as the short straight line segment between two turning points), ensuring consistent cutting accuracy across the entire complex contour. Identifying continuous critical points allows the equipment to maintain a stable speed on complex contours, avoiding frequent switching between "decelerating at critical points → accelerating at non-critical points → decelerating again," reducing cutter head impact, and extending equipment lifespan.
[0045] This application achieves full-process optimization of multi-layer cutting through an integrated design of "zoning path planning + dynamic speed control + multi-feature collaborative recognition". In path planning, regions are divided by the position of the bounding rectangle of the cut pieces and ordered vertically, significantly reducing the cross-regional movement of the cutting equipment between different cut pieces and significantly improving cutting efficiency. In speed control, based on features such as whether the cut piece exceeds the window, whether there is a critical point, and whether it is a small-sized cut piece, a corresponding exclusive speed strategy is triggered. When multiple features conflict, the more suitable low speed is prioritized, balancing the safety and accuracy of the cutting process. This effectively improves multi-layer cutting performance, such as significantly reducing cut piece accuracy errors, especially improving the cutting quality of small-sized and complex-contour cut pieces, reducing defective products. Through speed peak processing and smooth transition design, cutter head vibration is reduced, extending the lifespan of core components of the cutting equipment. It has strong adaptability, allowing flexible adjustment of zoning parameters and sorting direction according to equipment table specifications and production scenario requirements, making it compatible with different types of CNC cutting equipment. Overall, it achieves four objectives: "efficiency improvement, accuracy assurance, equipment protection, and scenario adaptation".
[0046] Example 2 Furthermore, a multi-layer speed dynamic control and path planning device 100 is proposed, such as... Figure 3 As shown, it includes: The information acquisition module 110 is used to acquire the parameters of the cutting area window, the initial partition length, and the cutting piece information, wherein the cutting piece information includes the position of the outer rectangle of the cutting piece and the cutting piece area; The sorting module 120 is used to divide the cutting area according to the partition length, and determine the corresponding cutting sorting result in each cutting area according to the position of the bounding rectangle and the area of the cutting piece; The speed control module 130 is used to determine the corresponding cutting speed control strategy based on the parameters and the piece information during the cutting process according to the cutting sorting result.
[0047] Example 3 Furthermore, a computer-readable storage medium is proposed, including computer instructions that, when executed on an electronic device, cause the electronic device to perform the multi-layer speed dynamic control and path planning method described in Embodiment 1 above.
[0048] Example 4 Furthermore, an electronic device is proposed, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to implement the multi-layer speed dynamic control and path planning method of Embodiment 1 when executing executable instructions.
[0049] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0050] Furthermore, it should be noted that the use of terms such as "first," "second," and "a" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0051] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.
[0052] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.
Claims
1. A method for dynamic control and path planning of multi-layer cutting speed, characterized in that, include: Obtain the parameters of the cutting area window, initialize the partition length, and the cutting piece information, including the position of the outer rectangle of the cutting piece and the cutting piece area; The cutting area is divided according to the partition length, and the corresponding cutting sorting result is determined in each cutting area according to the position of the bounding rectangle and the area of the cutting piece. During the cutting process based on the cutting sorting results, a corresponding cutting speed control strategy is determined based on the parameters and the cutting piece information.
2. The multi-layer cutting speed dynamic control and path planning method according to claim 1, characterized in that, The cutting area is divided according to the partition length. Within each cutting area, the cutting order of the corresponding piece is determined based on the position of the bounding rectangle and the area of the piece, including: The cutting area is divided in the first direction according to the partition length; The cutting order of the pieces within each cutting area is determined based on the position of the bounding rectangle of each piece in the second direction, wherein the first direction and the second direction are perpendicular to each other; Based on the area of the cut piece within each cutting area, determine whether it is a cut piece that needs to be cut first, and adjust the cutting sorting result in response to including cut pieces that need to be cut first.
3. The multi-layer cutting speed dynamic control and path planning method according to claim 2, characterized in that, During the cutting process based on the cutting sorting results, a corresponding cutting speed control strategy is determined based on the parameters and the cut piece information, including: The cut piece information also includes the path points of the cut pieces; Determine whether the cut piece is located within the cutting area window based on the position of the bounding rectangle of the cut piece and the parameters; Traverse the critical region corresponding to the coordinates of the path point, and determine whether the path point is a critical point according to the preset critical conditions. In response to one of the following triggering conditions: part or all of the cut piece is located outside the cutting area window, the path point is a critical point, or the cut piece needs to be cut first, a corresponding cutting speed control strategy is determined based on the preset cutting speed corresponding to the triggering condition.
4. The multi-layer cutting speed dynamic control and path planning method according to claim 3, characterized in that, Also includes: In response to two or more triggering conditions, namely, that part or all of the cut piece is outside the cutting area window, that the path point is a critical point, or that the cut piece needs to be cut first, the preset cutting speeds corresponding to the triggering conditions are compared, and the corresponding cutting speed control strategy is determined based on the minimum preset cutting speed.
5. The multi-layer cutting speed dynamic control and path planning method according to claim 3, characterized in that, During the cropping process based on the cropping sorting results, determining the corresponding cropping speed control strategy also includes: Calculate the cutting speed difference between the current path point of the cut piece and the previous and next path points, as well as the cutting speed difference between the previous and next path points. In response to the fact that the clipping speed difference between the current path point and the previous path point and the clipping speed difference between the current path point and the next path point are both greater than a preset speed difference threshold, and the clipping speed difference between the previous path point and the next path point is less than the preset speed difference threshold, the current path point has a speed spike. When there is a speed peak at the current path point, the clipping speed of the current path point is determined based on the distances between the current path point and the previous path point and the next path point, respectively.
6. The multi-layer cutting speed dynamic control and path planning method according to claim 5, characterized in that, When a speed peak exists at the current path point, the clipping speed of the current path point is determined based on the distances between the current path point and the previous and subsequent path points, including: Calculate the total distance between the current path point of the cut piece and the previous and next path points; In response to the total distance being less than a preset total distance threshold, the clipping speed of the current path point is set to the average of the sum of the clipping speeds of the previous path point and the next path point.
7. The multi-layer cutting speed dynamic control and path planning method according to claim 5, characterized in that, Traversing the critical region corresponding to the coordinates of the path point, and determining whether the path point is a critical point according to a preset critical condition, including: In response to the current path point being a non-critical point, the previous path point and the next path point being both critical points, and the current path point being less than a preset distance threshold from both the previous path point and the next path point, the current path point is set as a critical point.
8. A multi-layer cutting speed dynamic control and path planning device, characterized in that, include: The information acquisition module is used to acquire the parameters of the cutting area window, the initial partition length, and the cutting piece information, including the position of the outer rectangle of the cutting piece and the area of the cutting piece. The sorting module is used to divide the cutting area according to the partition length, and determine the corresponding cutting sorting result in each cutting area according to the position of the bounding rectangle and the area of the cutting piece; The speed control module is used to determine the corresponding cutting speed control strategy based on the parameters and the piece information during the cutting process according to the cutting sorting results.
9. A computer-readable storage medium, characterized in that, It includes computer instructions that, when executed on an electronic device, cause the electronic device to perform the multi-layer speed dynamic control and path planning method as described in any one of claims 1-7.
10. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the multi-layer speed dynamic control and path planning method according to any one of claims 1-7 when executing the executable instructions.