Processing track processing method and device, equipment and storage medium
By obtaining the linear length of adjacent corners and the smooth linear distance of the transition curve, calculating the ratio and adjusting the linear length of the transition curve, the problem of reduced processing speed caused by the discontinuity of the tangential direction of adjacent trajectories in laser cutting is solved, thereby improving processing efficiency and quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHENZHEN HANS INTELLIGENT CONTROL TECH CO LTD
- Filing Date
- 2025-12-24
- Publication Date
- 2026-04-17
AI Technical Summary
In the field of laser cutting, the discontinuity of tangential direction and curvature between adjacent trajectories requires frequent acceleration and deceleration during processing, which affects the surface processing quality and efficiency of the workpiece. Although existing methods eliminate the overlap between adjacent transition curves, they lead to a reduction in processing feed rate.
By obtaining the linear length of adjacent corners and the smooth linear distance of the transition curve, the ratio is calculated and the linear length of the transition curve is adjusted to avoid excessive curvature of the transition curve at the corners, making full use of the linear trajectory length and improving the machining feed speed.
It increases the machining feed rate, avoids the overlap of transition curves at corners, and improves the overall machining quality and efficiency of the workpiece.
Smart Images
Figure CN121870291A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of automation control technology, and in particular relates to a processing trajectory processing method, device, equipment and storage medium. Background Technology
[0002] In laser cutting, discontinuities in tangential direction and curvature between adjacent trajectories necessitate frequent acceleration and deceleration during processing, impacting workpiece surface quality and processing efficiency. To mitigate this, operators typically insert a continuous curvature transition curve at corners, ensuring continuous trajectory speed and acceleration within the limits of the external maximum corner error. However, during corner smoothing, potential overlap exists between transition curves of adjacent corners. Currently, a common method to eliminate this overlap is to directly limit the truncation length of the corner transition curve on the trajectory to less than or equal to half of the adjacent trajectory. While this method eliminates overlap, it leads to a reduction in processing feed rate. Summary of the Invention
[0003] Embodiments of this application provide a machining trajectory processing method, apparatus, device, and storage medium that can improve machining feed speed.
[0004] In a first aspect, embodiments of this application provide a machining trajectory processing method applied to a machining trajectory having a first corner and a second corner, wherein the first corner and the second corner are adjacent corners, and the machining trajectory processing method includes: Obtain the linear length of the linear trajectory connecting the corner point of the first corner and the corner point of the second corner; Obtain the first smooth linear distance of the first transition curve of the first corner, and obtain the second smooth linear distance of the second transition curve of the second corner. The first smooth linear distance is the linear distance from the first endpoint of the first transition curve to the corner point of the first corner, and the second smooth linear distance is the linear distance from the second endpoint of the second transition curve to the corner point of the second corner. The first endpoint and the second endpoint are located on the same linear trajectory. Determine a first ratio and a second ratio, wherein the first ratio is the proportion of the first smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance, and the second ratio is the proportion of the second smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance; Based on the first smooth linear distance, the second smooth linear distance, the first ratio, the second ratio, and the linear length of the linear trajectory, adjust the linear length of the first transition curve and / or the linear length of the second transition curve.
[0005] Secondly, embodiments of this application provide a machining trajectory processing device applied to a machining trajectory having a first corner and a second corner, wherein the first corner and the second corner are adjacent corners, and the machining trajectory processing device includes: A linear length acquisition module for obtaining the linear length of the linear trajectory connecting the corner point of the first corner and the corner point of the second corner; A smooth linear distance acquisition module is used to acquire a first smooth linear distance of a first transition curve at the first corner and a smooth linear distance acquisition module is used to acquire a second smooth linear distance of a second transition curve at the second corner; the first smooth linear distance is the linear distance from the first endpoint of the first transition curve to the corner point of the first corner, and the second smooth linear distance is the linear distance from the second endpoint of the second transition curve to the corner point of the second corner, wherein the first endpoint and the second endpoint are located on the same linear trajectory; A ratio determination module for determining a first ratio and a second ratio, wherein the first ratio is the ratio of the first smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance, and the second ratio is the ratio of the second smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance; A length adjustment module for adjusting the linear length of the first transition curve and / or the linear length of the second transition curve based on the first smooth linear distance, the second smooth linear distance, the first ratio, the second ratio, and the linear length of the linear trajectory.
[0006] Thirdly, embodiments of this application provide a processing apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in any one of the first aspects above.
[0007] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any one of the first aspects above.
[0008] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the method described in any one of the first aspects.
[0009] The beneficial effects of the embodiments of this application are: The linear length of the linear trajectory connecting the corner point of the first corner and the corner point of the second corner is obtained. The first corner and the second corner are adjacent corners. The first smooth linear distance of the first transition curve of the first corner and the second smooth linear distance of the second transition curve of the second corner are obtained. The first smooth linear distance is determined as a first proportion of the sum of the first smooth linear distance and the second smooth linear distance, and the second smooth linear distance is determined as a second proportion of the sum of the first smooth linear distance and the second smooth linear distance. Based on the first smooth linear distance, the second smooth linear distance, the first proportion, the second proportion, and the linear length of the linear trajectory, the linear length of the first transition curve and / or the linear length of the second transition curve are adjusted. Since the first corner and the second corner are adjacent, the linear length of the adjacent linear trajectory can be used to adjust the linear length of the first transition curve and / or the linear length of the second transition curve. The linear length of the linear trajectory at each corner can be fully utilized, the curvature of the transition curve at the corner can be avoided to be too large, and the processing feed speed of the corner can be improved. Attached Figure Description
[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the 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 based on these drawings without creative effort.
[0011] Figure 1 This is a schematic flowchart of a machining trajectory processing method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating step A4 of the machining trajectory processing method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the processing trajectory of a processing trajectory processing method provided in an embodiment of this application; Figure 4(a) shows the effect of processing the machining trajectory using the traditional method; Figure 4(b) is a diagram showing the effect of processing the processing trajectory using a processing trajectory processing method provided in an embodiment of this application; Figure 5 This is a flowchart illustrating a processing trajectory processing method provided in another embodiment of this application; Figure 6 This is a schematic flowchart of a processing trajectory processing method provided in another embodiment of this application; Figure 7 This is a schematic diagram of the structure of a processing trajectory processing device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of the length adjustment module of the processing trajectory processing device provided in one embodiment of this application; Figure 9 This is a schematic diagram of the structure of a processing trajectory processing device provided in another embodiment of this application; Figure 10 This is a schematic diagram of the structure of a processing trajectory processing device provided in another embodiment of this application; Figure 11 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Detailed Implementation
[0012] To make the technical problem to be solved, the technical solution and the beneficial effects of this application clearer, the following is in conjunction with the appendix. Figures 1 to 11 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
[0013] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.
[0014] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.
[0015] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.
[0016] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."
[0017] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0018] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.
[0019] The embodiments of this application provide a machining trajectory processing method, applied to a machining trajectory having a first corner and a second corner, wherein the first corner and the second corner are adjacent corners.
[0020] There can be multiple first corners, and there can also be multiple second corners.
[0021] The machining trajectory processing method provided in the embodiments of this application can be applied to the trajectory processing of machining equipment. The aforementioned machining equipment can be a laser processing equipment or a CNC machine tool. The aforementioned laser processing equipment can be a laser cutting equipment.
[0022] Figure 1 This is a schematic flowchart of a machining trajectory processing method provided in one embodiment of this application. (Reference) Figure 1 The processing trajectory processing method provided in the embodiments of this application includes steps A1 to A4.
[0023] Step A1: Obtain the linear length of the linear trajectory connecting the corner point of the first corner and the corner point of the second corner.
[0024] The machining trajectory can be formed by connecting multiple straight line segments, or by connecting straight line segments and curved segments.
[0025] The turning points of the processing trajectory are the junctions between straight line segments or between straight line segments and curved lines.
[0026] A linear trajectory is a straight line segment connecting two adjacent corner points.
[0027] As an example, obtaining continuous data through computer-aided manufacturing systems or compilers Point coordinates of a segmental linear locus , n If the integer is a forward-looking trajectory, the linear trajectory is a look-ahead trajectory; the linear trajectory can be used... P i P i+1 This indicates that its length is available.l i Indicates; corners are available express.
[0028] Specifically, traversal Given a linear locus, calculate the linear length of the linear locus. Store in queue .
[0029] Step A2: Obtain the first smooth linear distance of the first transition curve at the first corner, and obtain the second smooth linear distance of the second transition curve at the second corner.
[0030] The first transition curve is the transition curve at the first corner. The second transition curve is the transition curve at the second corner.
[0031] The first transition curve can be a symmetrical B-spline curve, Bezier curve, NURBS curve, or PH curve, or an asymmetrical B-spline curve, Bezier curve, or NURBS curve. Similarly, the second transition curve can be a symmetrical B-spline curve, Bezier curve, NURBS curve, or PH curve, or an asymmetrical B-spline curve, Bezier curve, or NURBS curve.
[0032] As an example, using a cubic Bezier curve for corner smoothing of the first and second corners, the simplified parameter expression is: .
[0033] In the above formula, These are the control points for the transition curve. The parameter is the independent variable, and The extreme point of curvature is at At this point, the maximum curvature is ,in, , The smooth linear distance for corner smoothing. This is the maximum permissible error value for the smoothness of the corners.
[0034] The first smooth linear distance is the linear distance from the first endpoint of the first transition curve to the corner point of the first corner. The second smooth linear distance is the linear distance from the second endpoint of the second transition curve to the corner point of the second corner. The first transition curve has two endpoints, one of which is the first endpoint. The second transition curve also has two endpoints, one of which is the second endpoint. The first endpoint of the first transition curve and the second endpoint of the second transition curve lie on the same linear trajectory.
[0035] Specifically, within the maximum permissible error value Under the constraints, using the above type of curve, for corners Perform smoothing processing and calculate the linear length of each transition curve. Store in queue The first smooth linear distance is d i Then the second smooth linear distance d i+1 .
[0036] To ensure the corner and corner The linear length does not exceed the linear length of the linear trajectory (i.e., the look-ahead trajectory). and linear length Pre-emptive constraints can be imposed. and : .
[0037] Step A3: Determine the first ratio and the second ratio.
[0038] The first ratio is the proportion of the first smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance.
[0039] The second ratio is the proportion of the second smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance.
[0040] As an example, using To indicate the first proportion, use To indicate the second proportion, use Let D represent the second smooth linear distance, and let D represent the sum of the first and second smooth linear distances. Then: .
[0041] Step A4: Adjust the linear length of the first transition curve and / or the linear length of the second transition curve based on the first smooth linear distance, the second smooth linear distance, the first ratio, the second ratio, and the linear length of the linear trajectory.
[0042] Based on the first smoothing linear distance, the second smoothing linear distance, the first scale, the second scale, and the linear length of the linear trajectory, it can be determined which transition curves need to be adjusted, divided into three cases: if only the linear length of the first transition curve needs to be adjusted, then only the linear length of the first transition curve is adjusted; if only the linear length of the second transition curve needs to be adjusted, then only the linear length of the second transition curve is adjusted; if both the linear lengths of the first and second transition curves need to be adjusted, then both the linear lengths of the first and second transition curves are adjusted.
[0043] Figure 2 This is a flowchart illustrating step A4 of the machining trajectory processing method provided in an embodiment of this application. (See reference) Figure 2 Step A4 above may include steps A41 to A43.
[0044] Step A41: Based on the first smoothing linear distance, the second smoothing linear distance, and the linear length, determine all combinations of the first transition curve and the second transition curve that need to be adjusted, and add an index to the combination.
[0045] For adjacent first and second transition curves, if the first transition curve overlaps with the second transition curve, the linear length of the first transition curve and / or the linear length of the second transition curve needs to be adjusted. The combination of the overlapping first and second transition curves corresponds to an index.
[0046] The aforementioned index is divided into the start index. and end index .
[0047] Among them, the start index The index corresponding to the start of the overlap, and the end index. It is the index corresponding to the combination that ends in overlap.
[0048] Each pair of adjacent first and second transition curves can correspond to a mark indicating whether they overlap. overlap ;like overlap=false If , it means that the combination has no overlap; if overlap=true If , it means that the combination has overlap.
[0049] In practical applications, the start index can be initialized. and end index And a marker indicating whether adjacent transition curves overlap. overlap=false .
[0050] To find all combinations of overlapping transition curves, one can iterate through a linear queue of transition curves. ,if and Then continue iterating until... This indicates that the transition curves at adjacent corners of the look-ahead processing trajectory do not overlap, and no adjustment to the linear length of the transition curves is needed; if and During the traversal, encounter This indicates that within the maximum permissible error value Below, there is an overlap between adjacent transition curves. In this case, let... , Then continue the loop until... or At this time, This indicates that from the corner to the corner There is overlap between the transition curves, and the linear length of the corresponding transition curves needs to be adjusted.
[0051] Step A42: Traverse the index in either the forward or reverse direction, and determine the first transition curve and / or the second transition curve that need to be adjusted based on the first scale, the second scale, and the linear length of the linear trajectory.
[0052] Traverse the index in either forward or reverse direction.
[0053] After determining the indices of all overlapping transition curve combinations, the indices can be traversed in either forward or backward to determine which transition curve in the combination requires adjustment of its linear length.
[0054] Taking reverse index traversal as an example, that is, starting from the end index of the overlap... Traverse to the start index of the overlap This allows the linear trajectory of non-overlapping transition curves to be used as a buffer length to adjust overlapping transition curves.
[0055] There are three possible scenarios, and all three scenarios exist. That is, the maximum permissible error in corner smoothing. Below, the sum of the linear lengths of adjacent transition curves exceeds the linear length of the trajectory. Restrictions.
[0056] In the first case: if the first smoothing linear distance is greater than the product of the first ratio and the linear length, and the second smoothing linear distance is greater than the product of the second ratio and the linear length, then the corresponding first transition curve and second transition curve are determined to need adjustment.
[0057] Figure 3 This is a schematic diagram of the machining trajectory of a machining trajectory processing method provided in an embodiment of this application. (Reference) Figure 3 As an example, if the first smooth linear distance And the second smooth linear distance This indicates the first corner. Second corner Maximum permissible error in corner smoothing Below, the linear length of adjacent transition curves exceeds the linear length of their respective linear trajectories. Given the proportion and length of the transition curves, the first and second transition curves are determined to be the ones that need adjustment.
[0058] The second scenario: If the first smoothing linear distance is greater than the product of the first ratio and the linear length, and the second smoothing linear distance is less than or equal to the product of the second ratio and the linear length, then the corresponding first transition curve is determined to need adjustment.
[0059] refer to Figure 3 As an example, if the first smooth linear distance And the second smooth linear distance This indicates the first corner. Second corner Maximum permissible error in corner smoothing Down, only the first corner The linear length of the transition curve (i.e., the first transition curve) exceeds the linear length of the linear trajectory in which it lies. Given the proportion and length of the curve, the first transition curve is determined to be the one that needs adjustment.
[0060] The third scenario: If the first smoothing linear distance is less than or equal to the product of the first ratio and the linear length, and the second smoothing linear distance is greater than the product of the second ratio and the linear length, then the corresponding second transition curve is determined to need adjustment.
[0061] refer to Figure 3 As an example, if the first smooth linear distance And the second smooth linear distance This indicates the first corner. Second corner Maximum permissible error in corner smoothing Down, only the second corner The linear length of the transition curve (i.e., the second transition curve) exceeds the linear length of the linear trajectory in which it lies. The proportion of length is determined, and at this point, the second transition curve is identified as needing adjustment.
[0062] If it is a forward traversal, that is, traversing from the start index to the end index, then it traverses from the start index where there is no overlap to the end index where there is no overlap. There is an overlapping transition curve between the start index and the end index. In this way, the linear trajectory where the non-overlapping transition curve is located can be used as a buffer length to adjust the overlapping transition curve.
[0063] Step A43: Change the linear length of the first transition curve that needs adjustment and / or change the linear length of the second transition curve that needs adjustment.
[0064] If the first smoothing linear distance is greater than the product of the first ratio and the linear length, and the second smoothing linear distance is greater than the product of the second ratio and the linear length, then the linear length of the first transition curve is adjusted to the product of the first ratio and the linear length, and the linear length of the second transition curve is adjusted to the product of the second ratio and the linear length.
[0065] refer to Figure 3 As an example, after determining that the first transition curve and the second transition curve need adjustment, the linear length of the first transition curve is... Linear length of the second transition curve Adjusted to: .
[0066] If the first smoothing linear distance is greater than the product of the first ratio and the linear length, and the second smoothing linear distance is less than or equal to the product of the second ratio and the linear length, then the linear length of the first transition curve is adjusted to the product of the first ratio and the linear length.
[0067] refer to Figure 3 As an example, after determining that the first transition curve needs adjustment, the linear length of the first transition curve is... Adjusted to: .
[0068] If the first smoothing linear distance is less than or equal to the product of the first ratio and the linear length, and the second smoothing linear distance is greater than the product of the second ratio and the linear length, then the linear length of the second transition curve is adjusted to be the product of the second ratio and the linear length.
[0069] refer to Figure 3 As an example, after determining that the second transition curve needs adjustment, the linear length of the second transition curve is... Adjusted to: .
[0070] Repeat step A43 above until... or Finish.
[0071] Initialize variables, let , , Repeat steps A42 and A43 until the linear lengths of all overlapping transition curves have been adjusted.
[0072] As described above, the linear length of the linear trajectory connecting the corner point of the first corner and the corner point of the second corner is obtained. The first corner and the second corner are adjacent corners. The first smooth linear distance of the first transition curve of the first corner and the second smooth linear distance of the second transition curve of the second corner are obtained. The first smooth linear distance is determined to be a first proportion of the sum of the first smooth linear distance and the second smooth linear distance. The second smooth linear distance is determined to be a second proportion of the sum of the first smooth linear distance and the second smooth linear distance. Based on the first smooth linear distance, the second smooth linear distance, the first proportion, the second proportion, and the linear length of the linear trajectory, the linear length of the first transition curve and / or the linear length of the second transition curve are adjusted. Since the first corner and the second corner are adjacent, the linear length of the adjacent linear trajectory can be used to adjust the linear length of the first transition curve and / or the linear length of the second transition curve. The linear length of the linear trajectory at each corner can be fully utilized, the curvature of the transition curve at the corner can be avoided to be too large, and the processing feed speed of the corner can be improved.
[0073] Figure 4(a) shows the effect of processing the machining trajectory using the traditional method, where the linear length of the transition curve at the corner is constrained to not exceed half the linear length of the adjacent linear trajectory. Figure 4(b) shows the effect of processing the machining trajectory using the machining trajectory processing method provided in the embodiment of this application, which can make full use of the linear length of the corner.
[0074] Figure 5 This is a schematic flowchart of a machining trajectory processing method provided in another embodiment of this application. (Reference) Figure 5 The above-mentioned processing trajectory processing method may also include step A5.
[0075] Step A5: Based on the adjusted linear length of the first transition curve and / or the linear length of the second transition curve, redetermine the control points of the first transition curve and / or the control points of the second transition curve.
[0076] The first and second transition curves are transition curves with control points. After adjusting the length, the control points need to be redefined.
[0077] If only the linear length of the first transition curve is adjusted, then only the control points of the first transition curve need to be redefined. If only the linear length of the second transition curve is adjusted, then only the control points of the second transition curve need to be redefined. If both the linear lengths of the first and second transition curves are adjusted, then both control points of the first and second transition curves need to be redefined.
[0078] Specifically, based on the linear length of the redefined transition curve Determine the control points of the transition curve at the corner. : .
[0079] in, , line segment P i-1 P i and line segments P i P i+1 It consists of two adjacent line segments that intersect at point . P i .
[0080] Figure 6 This is a schematic flowchart of a machining trajectory processing method provided in another embodiment of this application. (Reference) Figure 6 The above-mentioned processing trajectory processing method may also include step A6.
[0081] Step A6: Determine the connection speed of the connection point of the machining trajectory based on the system's maximum speed, the speed of the maximum curvature of the transition curve under the maximum acceleration constraint, and the speed of the maximum curvature of the transition curve under the maximum jerk constraint.
[0082] The connection speed is determined to ensure smooth machining after the look-ahead machining trajectory is interpolated in real time by the interpolator. After the corners of the machining trajectory are smoothed, the connection speed at the connection point is mainly determined by the system's maximum speed. The maximum curvature of the transition curve at maximum acceleration Speed under constraints And the velocity of the maximum curvature of the transition curve under the maximum jerk constraint. Sure: .
[0083] For the first transition curve, the connection speed at its connection point is mainly determined by the system's maximum speed, the speed of the first transition curve's maximum curvature under the maximum acceleration constraint, and the speed of the first transition curve's maximum curvature under the maximum jerk constraint.
[0084] For the second transition curve, the connection speed at its connection point is mainly determined by the system's maximum speed, the speed of the second transition curve's maximum curvature under the maximum acceleration constraint, and the speed of the second transition curve's maximum curvature under the maximum jerk constraint.
[0085] The machining trajectory processing method provided in the embodiments of this application is mainly completed in the look-ahead processing. The look-ahead processing typically includes: continuous trajectory pre-reading, corner smoothing processing, transition curve adjustment, connection speed determination, and trajectory data writing to the interpolator. Among them, continuous trajectory pre-reading and corner smoothing processing can be calculated in advance in the compiler, and then the connection speed is determined in the kernel's look-ahead processing. Finally, the trajectory data is written to the interpolator, which can reduce the kernel calculation time.
[0086] The machining trajectory processing method provided in the embodiments of this application classifies the overlap type of each group of adjacent and overlapping transition curves, and adjusts the linear length of the transition curve of the overlapping corner by adopting the proportion that adjacent corners can be just smoothed under no linear length constraints. This can determine the optimal transition length of each overlapping corner transition curve, which can improve the utilization rate of the linear length of the linear trajectory and the machining feed speed of the corner smooth transition curve, and avoid the overlap between the corner smooth transition curves, thereby improving the overall machining quality and efficiency of the workpiece.
[0087] Corresponding to the method described in the above embodiments, Figure 7 This diagram illustrates the structure of a processing trajectory processing apparatus provided in an embodiment of this application. For ease of explanation, only the parts relevant to the embodiments of this application are shown.
[0088] refer to Figure 7 The machining trajectory processing device provided in the embodiments of this application can be applied to machining trajectories having a first corner and a second corner, wherein the first corner and the second corner are adjacent corners. The machining trajectory processing device provided in the embodiments of this application includes a linear length acquisition module 1A, a smooth linear distance acquisition module 2A, a ratio determination module 3A, and a length adjustment module 4A.
[0089] The linear length acquisition module 1A is used to acquire the linear length of the linear trajectory connecting the corner point of the first corner and the corner point of the second corner.
[0090] The smooth linear distance acquisition module 2A is used to acquire the first smooth linear distance of the first transition curve at the first corner, and to acquire the second smooth linear distance of the second transition curve at the second corner.
[0091] The first smooth linear distance is the linear distance from the first endpoint of the first transition curve to the corner point of the first corner. The second smooth linear distance is the linear distance from the second endpoint of the second transition curve to the corner point of the second corner. The aforementioned first endpoint and the aforementioned second endpoint lie on the same linear trajectory.
[0092] The ratio determination module 3A is used to determine the first ratio and the second ratio.
[0093] The first ratio is the proportion of the first smooth linear distance to the sum of the first and second smooth linear distances. The second ratio is the proportion of the second smooth linear distance to the sum of the first and second smooth linear distances.
[0094] The length adjustment module 4A is a length adjustment module used to adjust the linear length of the first transition curve and / or the linear length of the second transition curve based on the first smooth linear distance, the second smooth linear distance, the first ratio, the second ratio, and the linear length of the linear trajectory.
[0095] Figure 8 This is a schematic diagram of the length adjustment module of a processing trajectory processing device according to an embodiment of this application. (Reference) Figure 8 The aforementioned length adjustment module 4A may include an index determination submodule 41A, a traversal submodule 42A, and an adjustment submodule 43A.
[0096] The index determination submodule determines all combinations of the first and second transition curves that need to be adjusted based on the first smooth linear distance, the second smooth linear distance, and the linear length, and adds an index to the combinations.
[0097] The traversal submodule 42A is used to traverse the index in either forward or reverse direction, and determines the first transition curve and / or the second transition curve that need to be adjusted based on the first scale, the second scale, and the linear length of the linear trajectory.
[0098] The adjustment submodule 43A is used to change the linear length of the first transition curve that needs to be adjusted and / or change the linear length of the second transition curve that needs to be adjusted.
[0099] Figure 9 This is a schematic diagram of the processing trajectory processing device provided in another embodiment of this application. (Reference) Figure 9 The aforementioned processing trajectory processing device may further include a control point determination module 5A.
[0100] The control point determination module 5A is used to redetermine the control points of the first transition curve and / or the control points of the second transition curve based on the adjusted linear length of the first transition curve and / or the linear length of the second transition curve.
[0101] Figure 10 This is a schematic diagram of the processing trajectory processing device provided in another embodiment of this application. (Reference) Figure 10 The aforementioned processing trajectory processing device may further include a connection speed determination module 6A.
[0102] The connection speed determination module 6A is used to determine the connection speed of the connection point of the machining trajectory based on the system's maximum speed, the speed of the maximum curvature of the transition curve under the maximum acceleration constraint, and the speed of the maximum curvature of the transition curve under the maximum jerk constraint.
[0103] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.
[0104] Figure 11 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Figure 11 As shown, the processing equipment 11 of this embodiment includes: at least one processor 110 ( Figure 11 Only one is shown in the diagram), memory 111, and computer program 112 stored in memory 111 and executable on at least one processor 110; when processor 110 executes computer program 112, it implements the steps in the various method embodiments described above.
[0105] The processing equipment 11 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. This processing equipment may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will understand that... Figure 11 This is merely an example of processing equipment and does not constitute a limitation on the processing equipment. It may include more or fewer components than shown in the figure, or combinations of certain components, or different components. For example, it may also include input / output devices, network access devices, buses, etc.
[0106] The processor 110 can be a Central Processing Unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.
[0107] In some embodiments, memory 111 may be an internal storage unit of the processing equipment 11, such as a hard drive or memory of the processing equipment. In other embodiments, memory 111 may be an external storage device of the processing equipment, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD) card, flash card, etc., provided on the processing equipment. Furthermore, memory 111 may include both internal and external storage units of the processing equipment. Memory 111 is used to store operating systems, applications, boot loaders, data, and other programs, such as program code for computer programs. Memory 111 can also be used to temporarily store data that has been output or will be output.
[0108] For example, computer program 112 may be divided into one or more modules / units, one or more of which are stored in memory 111 and executed by processor 110 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 112 in processing equipment 11.
[0109] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.
[0110] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments 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. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0111] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium; when executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media include: any entity or device capable of carrying computer program code to a device / terminal equipment, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.
[0112] Embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.
[0113] The embodiments of this application provide a computer program product that, when run on a terminal device, enables the terminal device to implement the steps in the various method embodiments described above.
[0114] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0115] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0116] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
[0117] The units described above as separate components may or may not be physically separate. Similarly, the components shown as units may or may not be physical units; 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, depending on actual needs.
[0118] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.
Claims
1. A machining trajectory processing method characterized by comprising: The machining trajectory processing method, applied to a machining trajectory having a first corner and a second corner, wherein the first corner and the second corner are adjacent corners, includes: Obtain the linear length of the linear trajectory connecting the corner point of the first corner and the corner point of the second corner; Obtain the first smooth linear distance of the first transition curve of the first corner, and obtain the second smooth linear distance of the second transition curve of the second corner. The first smooth linear distance is the linear distance from the first endpoint of the first transition curve to the corner point of the first corner, and the second smooth linear distance is the linear distance from the second endpoint of the second transition curve to the corner point of the second corner. The first endpoint and the second endpoint are located on the same linear trajectory. Determine a first ratio and a second ratio, wherein the first ratio is the proportion of the first smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance, and the second ratio is the proportion of the second smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance; Based on the first smooth linear distance, the second smooth linear distance, the first ratio, the second ratio, and the linear length of the linear trajectory, adjust the linear length of the first transition curve and / or the linear length of the second transition curve.
2. The machining trajectory processing method according to claim 1, wherein The step of adjusting the linear length of the first transition curve and / or the linear length of the second transition curve based on the first smooth linear distance, the second smooth linear distance, the first ratio, the second ratio, and the linear length of the linear trajectory includes: If the first smooth linear distance is greater than the product of the first ratio and the linear length, and the second smooth linear distance is greater than the product of the second ratio and the linear length, then the linear length of the first transition curve is adjusted to the product of the first ratio and the linear length, and the linear length of the second transition curve is adjusted to the product of the second ratio and the linear length. If the first smooth linear distance is greater than the product of the first ratio and the linear length, and the second smooth linear distance is less than or equal to the product of the second ratio and the linear length, then the linear length of the first transition curve is adjusted to the product of the first ratio and the linear length. If the first smooth linear distance is less than or equal to the product of the first ratio and the linear length, and the second smooth linear distance is greater than the product of the second ratio and the linear length, then the linear length of the second transition curve is adjusted to be the product of the second ratio and the linear length.
3. The machining trajectory processing method according to claim 1, wherein Also includes: Based on the adjusted linear length of the first transition curve and / or the linear length of the second transition curve, the control points of the first transition curve and / or the control points of the second transition curve are redefined.
4. The machining trajectory processing method according to claim 3, wherein Also includes: Based on the system's maximum speed, the speed of the transition curve's maximum curvature under maximum acceleration constraints, and the speed of the transition curve's maximum curvature under maximum jerk constraints, the connection speed of the connection point of the machining trajectory is re-determined.
5. The machining trajectory processing method according to claim 1, wherein The step of adjusting the linear length of the first transition curve and / or the linear length of the second transition curve based on the first smooth linear distance, the second smooth linear distance, the first ratio, the second ratio, and the linear length of the linear trajectory includes: Based on the first smooth linear distance, the second smooth linear distance, and the linear length, determine all combinations of the first transition curve and the second transition curve that need to be adjusted, and add an index to the combination; Traverse the index in either forward or reverse direction, and determine the first transition curve and / or the second transition curve that need to be adjusted based on the first ratio, the second ratio, and the linear length of the linear trajectory. Change the linear length of the first transition curve that needs adjustment and / or change the linear length of the second transition curve that needs adjustment.
6. The machining trajectory processing method according to claim 5, wherein The forward or reverse traversal of the index, based on the first ratio, the second ratio, and the linear length of the linear trajectory, determines the first transition curve and / or the second transition curve that need adjustment, including: Traverse the index in either forward or reverse order; If the first smooth linear distance is greater than the product of the first ratio and the linear length, and the second smooth linear distance is greater than the product of the second ratio and the linear length, then the corresponding first transition curve and second transition curve are determined to need adjustment. If the first smooth linear distance is greater than the product of the first ratio and the linear length, and the second smooth linear distance is less than or equal to the product of the second ratio and the linear length, then the corresponding first transition curve is determined to need adjustment. If the first smooth linear distance is less than or equal to the product of the first ratio and the linear length, and the second smooth linear distance is greater than the product of the second ratio and the linear length, then the corresponding second transition curve is determined to need adjustment.
7. A processing trajectory processing device, characterized in that, The machining trajectory processing device is applied to machining trajectories having a first corner and a second corner, wherein the first corner and the second corner are adjacent corners. A linear length acquisition module for obtaining the linear length of the linear trajectory connecting the corner point of the first corner and the corner point of the second corner; A smooth linear distance acquisition module is used to acquire a first smooth linear distance of a first transition curve at the first corner and a smooth linear distance acquisition module is used to acquire a second smooth linear distance of a second transition curve at the second corner; the first smooth linear distance is the linear distance from the first endpoint of the first transition curve to the corner point of the first corner, and the second smooth linear distance is the linear distance from the second endpoint of the second transition curve to the corner point of the second corner, wherein the first endpoint and the second endpoint are located on the same linear trajectory; A ratio determination module for determining a first ratio and a second ratio, wherein the first ratio is the ratio of the first smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance, and the second ratio is the ratio of the second smooth linear distance to the sum of the first smooth linear distance and the second smooth linear distance; A length adjustment module for adjusting the linear length of the first transition curve and / or the linear length of the second transition curve based on the first smooth linear distance, the second smooth linear distance, the first ratio, the second ratio, and the linear length of the linear trajectory.
8. A processing equipment, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the machining trajectory processing method as described in any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the machining trajectory processing method as described in any one of claims 1 to 6.
10. A computer program product, characterized in that, When the computer program product runs on the terminal device, it causes the terminal device to perform the processing trajectory processing method as described in any one of claims 1 to 6.