Method and device for automatic machining of free edges of workpieces

Abstract

The application provides a workpiece free edge automatic machining method and device, the method comprises the following steps: scanning a workpiece to be machined through a scanning module to obtain scanning data, extracting workpiece contour data of the workpiece to be machined from the scanning data, identifying a workpiece free edge to be machined in the workpiece contour data, and obtaining a machining data range of the workpiece free edge; before machining the workpiece to be machined, detecting actual position data of the workpiece free edge in the machining data range through a detection module, updating the machining data range based on the actual position data; and controlling a machining module to machine the workpiece free edge based on the updated machining data range. Through the design of automation, precision and intelligence, the application solves the problems of inaccurate identification and low efficiency in large workpiece machining.

Description

Technical Field

[0001] This invention relates to the field of CNC machining technology, and in particular to an automated machining method and apparatus for the free edge of a workpiece. Background Technology

[0002] In the fields of machinery manufacturing, engineering machinery, and aerospace, the demand for processing large workpieces is increasing. Existing CNC automated machining equipment still has many problems when processing such large workpieces, especially when dealing with batch processing of workpieces of multiple specifications and in multiple batches. For example, the current processing of multiple large workpieces suffers from poor recognition of processing areas, which leads to processing deviations. This seriously restricts the level of automation, processing accuracy, and production efficiency of large workpiece processing and cannot meet the needs of modern manufacturing for efficient, accurate, and stable processing. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art. To this end, the first aspect disclosed in this application provides an automated machining method for the free edge of a workpiece, comprising:

[0004] The scanning module scans the workpiece to be processed to obtain scanning data, extracts the workpiece contour data from the scanning data, identifies the free edge of the workpiece to be processed in the workpiece contour data, and obtains the processing data range of the free edge of the workpiece.

[0005] Before processing the workpiece, the actual position data of the free edge of the workpiece within the processing data range is detected by the detection module, and the processing data range is updated based on the actual position data;

[0006] The control processing module processes the free edge of the workpiece based on the updated range of data to be processed.

[0007] Optionally, extracting the workpiece contour data of the workpiece to be processed from the scan data includes:

[0008] Multiple scan slices are obtained through multiple scans to form scan data;

[0009] Based on the scanning range of the scanned slice data, adjacent scanned slice data are sequentially stitched together to obtain stitched scan data;

[0010] Identify the complete contour in the stitched scan data and determine the workpiece contour data in the complete contour.

[0011] Optionally, identifying the complete contour in the stitched scan data and determining the workpiece contour data in the complete contour includes:

[0012] Real-time detection of whether a complete outline exists in the stitched scan data;

[0013] If present, identify the partial data containing the complete contour in the stitched scan data to determine the workpiece contour data in the complete contour.

[0014] After identification is complete, mark or delete the identified data.

[0015] Optionally, this further includes, before determining the workpiece contour data in the complete contour:

[0016] Obtain the design drawings for all workpieces;

[0017] The design parameters of the workpiece are read from the design drawings, and the workpiece identification, workpiece contour parameters and workpiece processing parameters are obtained by parsing the design parameters. The workpiece contour parameters include the workpiece contour perimeter and the workpiece contour area.

[0018] The workpiece free edge machining parameters are obtained based on the workpiece machining parameters. The workpiece free edge machining parameters include the workpiece free edge range and machining process parameters. The workpiece identifier is associated with the workpiece contour parameters and the workpiece free edge machining parameters to obtain the preset workpiece parameters.

[0019] Optionally, determining the workpiece contour data in the complete contour includes:

[0020] The perimeter and area of ​​the complete contour are compared with the perimeter and area of ​​the workpiece contour in the preset workpiece parameters.

[0021] If similar target workpieces exist, extract the machining parameters of the free edge of the corresponding target workpiece as the workpiece contour data of the complete contour.

[0022] Optionally, the step of comparing the perimeter and area of ​​the complete contour with the perimeter and area of ​​the workpiece contour in the preset workpiece parameters includes:

[0023] The scan data of the complete contour is geometrically processed to form a geometric contour composed of a preset geometric image;

[0024] Calculate the perimeter and area of ​​the geometric contour, and compare them with the perimeter and area of ​​the workpiece contour of each workpiece in the preset workpiece parameters.

[0025] If there is an approximate workpiece whose comparison result is greater than the first threshold, calculate the circumscribed polygon of the geometric contour, perform translation and angular rotation on the circumscribed polygon, and then calculate the area overlap with the approximate workpiece. If it is greater than the second threshold, then the approximate workpiece is the target workpiece corresponding to the complete contour.

[0026] Optionally, identifying the free edge of the workpiece to be processed in the workpiece contour data includes:

[0027] The setting surface of the workpiece to be processed is determined according to the preset workpiece parameters, and the setting surface includes the front and back surfaces;

[0028] Based on the preset workpiece parameters and the set surface, the data of adjusting the complete contour is used to obtain an updated complete contour that matches the shape of the target workpiece;

[0029] Based on the preset workpiece parameters, the range of free edges of the workpiece in the target workpiece is obtained, and the contour region at the corresponding position in the updated complete contour is determined as the free edge of the workpiece.

[0030] Optionally, the step of detecting the actual position data of the free edge of the workpiece within the data range to be processed by the detection module includes:

[0031] Based on the processing data range of the workpiece's free edge, the detection module is controlled to move to the free edge of the workpiece to be processed;

[0032] Select multiple detection positions on the free edge of the workpiece, and control the detection probe of the detection module to move to detect the actual position of the free edge of the workpiece at the detection positions;

[0033] Based on the actual position data of multiple detection positions obtained by detection, the range of the free edge of the workpiece in the range of data to be processed is corrected to obtain the actual position data of the free edge of the workpiece.

[0034] Optionally, processing the free edge of the workpiece based on the updated range of data to be processed includes:

[0035] Determine the processing range of the processing module at the current location;

[0036] Identify the free edges of all workpieces to be processed within the processing range;

[0037] The machining path is determined based on the range of the free edge of each workpiece, the estimated machining time, and the tool changing status of the machining module. The machining module is then controlled to machine the free edge of the workpiece based on the machining path.

[0038] The second aspect disclosed in this application provides an automated machining apparatus for the free edge of a workpiece, comprising:

[0039] The data acquisition module is used to obtain scan data by scanning the workpiece to be processed through the scanning module;

[0040] The data processing module is used to extract the workpiece contour data of the workpiece to be processed from the scanned data, identify the free edge of the workpiece to be processed in the workpiece contour data, and obtain the processing data range of the free edge of the workpiece.

[0041] The processing control module is used to detect the actual position data of the free edge of the workpiece within the processing data range by the detection module before processing the workpiece, update the processing data range based on the actual position data, and control the processing module to process the free edge of the workpiece based on the updated processing data range.

[0042] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0043] This application automatically collects scan data of the workpiece using a scanning module, extracts the workpiece contour data to be processed from the scan data, and then initially determines the data range of the free edges of the workpiece to be processed within the workpiece contour data. This achieves the goal of quickly locating the workpiece to be processed area and improves the overall processing efficiency of batch workpieces. Furthermore, after determining the data range to be processed, before processing, this application uses a detection module to accurately detect the free edges of the workpiece within the data range to obtain the actual position data of the free edges. The actual position data obtained from local detection is used to update the data range to be processed, thereby correcting the data range and reducing the identification error of the free edges of the workpiece to be processed, significantly improving the workpiece processing effect. In summary, the technical solution of this application, through automated, precise, and intelligent design, solves the problems of inaccurate identification, insufficient precision, and low efficiency in the processing of large workpieces. At the same time, the identification and targeted re-correction of the free edges of the workpiece improves the identification efficiency while reducing the computational load, meeting the timeliness requirements of batch workpiece processing. Attached Figure Description

[0044] Figure 1 This is a flowchart of the automated machining method for free edges of a workpiece provided in the embodiments of this application;

[0045] Figure 2 This is a flowchart of the automated machining method S200 for free edges of a workpiece provided in the embodiments of this application;

[0046] Figure 3 This is a flowchart of the automated machining method S000 for free edges of a workpiece provided in the embodiments of this application;

[0047] Figure 4 This is a flowchart of the automated machining method S230 for free edges of workpieces provided in the embodiments of this application;

[0048] Figure 5 This is a flowchart of the automated machining method S231 for free edges of workpieces provided in the embodiments of this application;

[0049] Figure 6 This is a flowchart of the automated machining method for free edges of workpieces, S200, provided in this application embodiment, for identifying free edges of workpieces;

[0050] Figure 7 This is one of the flowcharts for the automated processing method S300 for free edges of workpieces provided in the embodiments of this application;

[0051] Figure 8 This is the second flowchart of the automated machining method S300 for free edges of workpieces provided in the embodiments of this application;

[0052] Figure 9 This is a structural diagram of the automated workpiece free edge processing device provided in the embodiments of this application;

[0053] Figure 10 A schematic diagram of the structure of a computer programmable logic device used to implement embodiments of the present invention is shown. Detailed Implementation

[0054] To better understand this application, various aspects of this application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely illustrative of exemplary embodiments of this application and are not intended to limit the scope of this application in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0055] It should be noted that, where there is no conflict, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0056] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0057] This application provides an automated machining method for the free edge of a workpiece. For example... Figure 1 As shown, the automated machining method for the free edge of the workpiece includes:

[0058] S100: Scan the workpiece to be processed by scanning the scanning module to obtain scan data, extract the workpiece contour data of the workpiece to be processed from the scan data, identify the free edge of the workpiece to be processed in the workpiece contour data, and obtain the processing data range of the free edge of the workpiece.

[0059] S200: Before processing the workpiece, the actual position data of the free edge of the workpiece within the processing data range is detected by the detection module, and the processing data range is updated based on the actual position data.

[0060] S300: The control processing module processes the free edge of the workpiece based on the updated range of data to be processed.

[0061] This application automatically collects scan data of the workpiece using a scanning module, extracts the workpiece contour data to be processed from the scan data, and then initially determines the data range of the free edges of the workpiece to be processed within the workpiece contour data. This achieves the goal of quickly locating the workpiece to be processed area and improves the overall processing efficiency of batch workpieces. Furthermore, after determining the data range to be processed, before processing, this application uses a detection module to accurately detect the free edges of the workpiece within the data range to obtain the actual position data of the free edges. The actual position data obtained from local detection is used to update the data range to be processed, thereby correcting the data range and reducing the identification error of the free edges of the workpiece to be processed, significantly improving the workpiece processing effect. In summary, the technical solution of this application, through automated, precise, and intelligent design, solves the problems of inaccurate identification, insufficient precision, and low efficiency in the processing of large workpieces. At the same time, the identification and targeted re-correction of the free edges of the workpiece improves the identification efficiency while reducing the computational load, meeting the timeliness requirements of batch workpiece processing.

[0062] In an optional implementation, the processing module and the detection module can be implemented by a switching module. The switching module has both detection and processing functions. The switching module can switch between the processing module and the detection module by switching the tool and the probe. This structural layout can reduce the space occupied by the processing equipment and improve the continuity of operation.

[0063] Specifically, the process begins by acquiring scan data of the workpiece to be processed through a scanning module. This step provides foundational data support for subsequent contour extraction and free edge identification. Next, the workpiece contour data is extracted from the scan data, and the free edges to be processed are located, forming a preliminary processing data range. To obtain accurate positions of the free edges, before processing the workpiece, a switching module acquires and fixes a probe. The probe, positioned away from the end of the switching module, probes the actual positions of each surface of the free edges within the processing data range, accurately detecting the actual positions of the free edges and correcting the initial processing data range. After data calibration, the switching module is moved to the tool holder, the probe is released and placed, and the tool is acquired and fixed, forming a processing module that performs processing operations based on the corrected processing data range. This application is not limited to this; in practical applications, the settings of the detection module and processing module can be adapted and adjusted according to processing requirements, and the installation positions of the scanning module and switching module can be flexibly set without affecting functionality.

[0064] In a specific example, when machining a workpiece using a CNC machine tool, for large workpieces, the CNC machine tool is quite long. A support frame can be installed spanning both sides of the machine tool, with the crossbeam in the middle of the support frame positioned above the CNC machine tool. A detection module, machining module, or switching module, as well as a scanning module, can be installed on the crossbeam of the support frame. The support frame is designed to move along a first direction along the length of the CNC machine tool, thereby moving the modules along that direction. Simultaneously, the crossbeam is positioned along a second direction perpendicular to the first direction, and a moving module can be installed on the crossbeam to move the modules on it. Thus, the modules on the support frame can move to any position under the control of the support frame and its moving modules. The moving module can be a three-degree-of-freedom moving module, enabling the modules on it to move in three degrees of freedom. The moving module can be implemented using existing technology. In practical applications, those skilled in the art can design the specific form of the CNC machine tool, its support frame, and the moving module according to actual needs. This is a conventional technique in the field and will not be elaborated further here.

[0065] In one optional embodiment, three support frames can be sequentially arranged. The first support frame houses the scanning module, the second the detection module, and the third the processing module. The modules move sequentially from the first to the third support frame to the workpiece position for processing. In another optional embodiment, two support frames can be arranged. One support frame houses the scanning module, and the other a switching module. Multiple workpieces to be processed are placed on the CNC machine tool. The support frames drive the scanning module to move to the corresponding position on the workpiece and stop. Then, a moving module on the support frame drives the scanning module to perform scanning, obtaining multiple scan slices of data as scanning data. After processing the scan data to obtain the processing data range, the switching module acquires and fixes a probe to form a detection module. The movement of the support frame and the moving module on the support frame drives the detection module to move to the processing data range. The detection module contacts and detects the actual position of the free edge within the processing data range to obtain the actual position data of the workpiece's free edge. Then, the switching module replaces the probe with a cutting tool to form a processing module. The processing module processes the updated processing data range to achieve accurate processing of the workpiece's free edge.

[0066] It should be noted that in the prior art, for some large workpieces, such as sheet metal workpieces in the shipbuilding industry, it is necessary to chamfer the free edges of the workpiece that will not participate in subsequent welding or other processing. However, for the CNC chamfering of such large workpieces, the positioning accuracy is low when the range of the free edges is determined by scanning the module alone, which may result in low processing accuracy and effect. On the other hand, accurately calculating the processing range of the entire workpiece boundary will lead to problems such as large amount of calculation and low processing efficiency. This application, by performing scanning, matching and detection processes on large workpieces, greatly reduces the amount of data processing while ensuring processing accuracy and improving processing efficiency and effect.

[0067] In this application, the scanning module is mainly used to acquire initial data on the shape of the workpiece to be processed, obtaining scan data of the workpiece. In an optional embodiment, the scanning module can be implemented using a structured camera, which includes a projection unit and an imaging unit. The projection unit is used to project a preset pattern of structured light onto the target object. The structured light pattern can be flexibly adjusted according to the material, shape, size, and detection accuracy requirements of the target object, including but not limited to stripe patterns, checkerboard patterns, speckle patterns, etc. The imaging unit is used to acquire a structured light image carrying depth information reflected from the surface of the target object. The imaging unit can be a CMOS image sensor or a CCD image sensor, and its resolution and frame rate parameters can be adapted and selected according to the actual scanning speed requirements. In practical applications, the scanning module can be installed on a CNC automated machining equipment, allowing the structure on the machining equipment with the scanning module to be movable so that the scanning module can acquire scan data of the workpiece to be processed during the movement.

[0068] In an optional embodiment, the machining module can be implemented using an existing workpiece machining structure. The machining module includes a moving module and a cutting head for detachably fixing the workpiece machining tool. The cutting head can be fixed to the moving module, and the movement of the moving module drives the cutting tool on the cutting head to perform workpiece machining. In an optional embodiment, the detection module can adopt a structure similar to the machining module, replacing the cutting tool on the machining module with a probe. The moving module drives the probe to move, detecting the actual position data of the free edge of the workpiece through the position of the probe and its contact position with the workpiece. In another optional embodiment, the structure of the machining module without the cutting head is used as a switching module. When the cutting tool is fixed on the switching module, the switching module switches to machining mode to process the workpiece; when the probe is fixed on the switching module, the switching module switches to detection mode. Of course, in practical applications, those skilled in the art can set the specific structure of the machining module, detection module, or switching module according to the actual situation to achieve the corresponding function; this application does not limit this.

[0069] In alternative implementations, such as Figure 2As shown, step S200, extracting the workpiece contour data of the workpiece to be processed from the scan data, includes:

[0070] S210: Multiple consecutive scan slices are obtained through multiple scans to form scan data.

[0071] S220: Based on the scanning range of the scan slice data, adjacent scan slice data are sequentially spliced ​​together to obtain spliced ​​scan data.

[0072] S230: Identify the complete contour in the stitched scan data and determine the workpiece contour data in the complete contour.

[0073] In this embodiment, the workpiece is first scanned multiple times using a scanning module. Each scan yields a scan slice data, and multiple scans together form a continuous set of scan slice data, which constitute a complete scan data set. It should be noted that, since large workpieces are typically large in size, the multiple-scan design avoids blind spots that may occur in a single scan, ensuring that data from all parts of the workpiece are collected onto the scan slice data.

[0074] Subsequently, based on the scanning range of each scanned slice, adjacent scanned slices are sequentially stitched together according to a preset stitching rule to form stitched scanned data. During the stitching process, overlapping areas of adjacent slices are fused to eliminate data redundancy and deviation, ensuring the continuity of the stitched data. Finally, a complete contour is identified from the stitched scanned data to determine the workpiece contour data. This application is not limited to this; the stitching rule can be adjusted according to the arrangement of the scanned slices, data format, etc., and different image recognition models can be used for contour recognition, as long as the accurate extraction of the complete contour can be achieved.

[0075] In a specific example, due to the limited scanning range of the scanning module, the scan slice data obtained by the scanning module moving in one direction may only contain a part of the workpiece. After obtaining scan slice data along the scanning direction, the scanning module moves to the next position perpendicular to the scanning direction and scans again at the next position to obtain another scan slice data. The scan slice data obtained at adjacent positions partially overlap, thus enabling the stitching of scan slice data at adjacent positions. During the scanning process of the scanning module moving to different positions perpendicular to the scanning direction, in order to improve the workpiece recognition efficiency, adjacent scan slice data can be stitched in real time to obtain stitched scan data. The presence of a complete contour in the stitched scan data is detected in real time. If it exists, the data containing the complete contour is identified to determine the workpiece contour data in the complete contour. At the same time, after the identification is completed, the identified scan data is marked or deleted to reduce the amount of data stored and improve data processing efficiency. The identified scan data includes the data containing the complete contour that has been identified and processed, and may also include data of blank areas, that is, data that does not contain any contour lines, to reduce the amount of data that needs to be processed subsequently.

[0076] In alternative implementations, such as Figure 3 As shown, the method further includes S000 before determining the workpiece contour data in the complete contour:

[0077] S010: Obtain the design drawings for all workpieces.

[0078] S020: Read the design parameters of the workpiece from the design drawings, and parse the design parameters to obtain the workpiece identifier, workpiece contour parameters and workpiece processing parameters. The workpiece contour parameters include the workpiece contour perimeter and the workpiece contour area.

[0079] S030: Obtain the workpiece free edge processing parameters based on the workpiece processing parameters. The workpiece free edge processing parameters include the workpiece free edge range and processing parameters. Associate the workpiece identifier with the workpiece contour parameters and the workpiece free edge processing parameters to obtain preset workpiece parameters.

[0080] In this embodiment, to improve the efficiency and accuracy of contour recognition, the design drawings and related information of the workpiece can be acquired and processed in advance before recognizing the workpiece contour data in the complete contour. Specifically, all design drawings corresponding to the workpieces to be processed are first collected, such as CAD drawings, which contain the core parameter information of the workpiece. It should be noted that the acquisition methods of design drawings may include local storage reading, network transmission and reception, etc., and this application does not impose specific limitations on them.

[0081] Next, the design parameters of the workpiece are read from the design drawings and parsed to obtain the workpiece identifier, workpiece contour parameters, and workpiece machining parameters. Among them, the workpiece contour parameters mainly include the workpiece contour perimeter and workpiece contour area, which are used for subsequent similarity comparison.

[0082] Workpiece machining parameters are used to determine the machining parameters for the workpiece's free edges. These parameters specifically include the range of the free edges on the workpiece and the machining process parameters for each free edge. The machining process parameters may include data such as the required cutting tools. Finally, the workpiece identifier is associated with and stored along with the corresponding workpiece contour parameters and workpiece free edge machining parameters, forming a preset workpiece parameter library. For example, this associated storage method facilitates quick retrieval and recall of the corresponding workpiece parameters, improving efficiency in the machining preparation stage. This application is not limited to this; the types of design parameters can be expanded according to actual machining needs, such as adding workpiece material parameters and tolerance requirement parameters.

[0083] In alternative implementations, such as Figure 4 As shown, step S230, determining the workpiece contour data in the complete contour, includes:

[0084] S231: Compare the perimeter and area of ​​the complete outline with the perimeter and area of ​​the workpiece outline in the preset workpiece parameters;

[0085] S232: If there are similar target workpieces, extract the workpiece free edge processing parameters corresponding to the target workpieces as the workpiece contour data of the complete contour.

[0086] In this embodiment, the core of determining the workpiece contour data within the complete contour is to match the target workpiece through similarity comparison. Specifically, the perimeter and area of ​​the identified complete contour are first calculated, and then compared with the perimeter and area of ​​all workpieces in a preset workpiece parameter library to determine if a similar target workpiece exists. For example, if the difference between the perimeter and area of ​​the complete contour and the perimeter and area of ​​an existing workpiece in the workpiece parameter library is less than the corresponding first threshold, then a similar workpiece is matched.

[0087] If a preliminary comparison of perimeter and area reveals similar workpieces, the area overlap can be further calculated. If the area overlap exceeds a preset second threshold, the similar workpiece is determined to be the target workpiece corresponding to the complete contour. Multiple comparisons offer the advantages of speed and accuracy in matching the target workpiece. When calculating the area overlap, the circumscribed polygon of the complete contour can be further calculated, and this circumscribed polygon is translated and rotated to ensure its shape matches the preset posture of the similar workpiece. Then, the area overlap is calculated. If the area overlap exceeds the preset second threshold, the similar workpiece is determined to be the target workpiece corresponding to the complete contour, and the processing parameters of the free edges corresponding to the target workpiece are extracted and used as the workpiece contour data for the current complete contour. For example, processing the circumscribed polygon can eliminate comparison bias caused by workpiece placement posture, improving the accuracy of similarity judgment. This application is not limited to this; in addition to perimeter, area, and area overlap, similarity comparison indicators can also include contour similarity, key feature point matching degree, and other parameters to further improve the accuracy of the comparison.

[0088] In alternative implementations, such as Figure 5 As shown, step S231, which compares the perimeter and area of ​​the complete contour with the perimeter and area of ​​the workpiece contour in the preset workpiece parameters, includes:

[0089] S2311: Geometric processing is performed on the scan data of the complete contour to form a geometric contour composed of a preset geometric image.

[0090] S2312: Calculate the perimeter and area of ​​the geometric contour, and compare them with the perimeter and area of ​​the workpiece contour of each workpiece in the preset workpiece parameters.

[0091] S2313: If there is an approximate workpiece whose comparison result is greater than the first threshold, calculate the circumscribed polygon of the geometric contour, perform translation and angular rotation on the circumscribed polygon, and calculate the area overlap with the approximate workpiece. If it is greater than the second threshold, then the approximate workpiece is the target workpiece corresponding to the complete contour.

[0092] In this embodiment, the similarity comparison process is divided into multiple steps to improve the reliability of the comparison results while reducing computational complexity. First, the scanned data of the complete contour is geometrically processed, transforming the original scanned point cloud data into a geometric contour composed of a preset geometric image. This process simplifies data complexity and highlights the geometric features of the contour. It should be noted that the preset geometric image may include basic geometric elements such as line segments, arcs, and polygons, and the geometricalization algorithm can be selected according to the type and accuracy requirements of the scanned data.

[0093] Next, the perimeter and area corresponding to the complete contour are calculated based on the geometric contour. These calculation results are then compared with the perimeter and area of ​​each workpiece in a preset workpiece parameter library. Workpieces whose comparison results are greater than a first threshold are selected as approximate workpieces. The first threshold can be set according to the actual processing accuracy requirements and is used to initially screen workpieces that are similar in shape to the scanned workpiece. For example, the setting of the first threshold needs to consider both screening efficiency and accuracy, avoiding the omission of potential target workpieces while reducing the workload of subsequent fine comparison.

[0094] Finally, for the selected approximate workpieces, secondary verification of the target workpiece is performed by constructing a circumscribed polygon, translating and rotating the circumscribed polygon, and calculating the area overlap. During the translation and rotation processes, the position and angle of the circumscribed polygon are adjusted based on the preset contour of the approximate workpiece to ensure that both are in the same coordinate system and orientation for overlap calculation. If the area overlap is greater than a second threshold, the match is confirmed to be successful.

[0095] Optionally, when constructing the circumscribed polygon of the complete contour, all endpoints of the complete contour can be detected first, and all endpoints can be connected sequentially to form the circumscribed polygon, so that the shape of the circumscribed polygon of the complete contour to be matched is consistent with that of the contour of the target workpiece. Then, by rotating the circumscribed polygon to a specific angle, it can be matched with the circumscribed polygon of the target workpiece. While rotating the circumscribed polygon of the complete contour, it is matched with the circumscribed polygon of the approximate workpiece to be identified as the target workpiece. If the overlap requirement is met, the area overlap is calculated to further determine whether the approximate workpiece is the target workpiece. By initially coarsely matching the approximate workpiece, the area overlap is further accurately matched to ensure the accuracy of the target workpiece matching, while avoiding the large amount of work caused by repeated accurate matching of a large number of workpieces.

[0096] In alternative implementations, such as Figure 6 As shown, step S200, which identifies the free edge of the workpiece to be processed in the workpiece contour data, includes:

[0097] S240: Determine the setting surface of the workpiece to be processed according to the preset workpiece parameters. The setting surface includes the front and back surfaces.

[0098] S250: Based on the preset workpiece parameters and the set surface, adjust the data of the complete contour to obtain an updated complete contour that matches the shape of the target workpiece.

[0099] S260: Based on the preset workpiece parameters, obtain the range of free edges of the workpiece in the target workpiece, and determine the contour region at the corresponding position in the updated complete contour as the free edge of the workpiece.

[0100] In this embodiment, the process of identifying the free edges of the workpiece to be processed in the workpiece contour data needs to be combined with preset workpiece parameters and actual scanning data. First, based on the workpiece structure information recorded in the preset workpiece parameters, the setting surfaces of the workpiece to be processed are determined. The setting surfaces typically include the front and back sides, and different setting surfaces will affect the distribution position of the workpiece free edges and the processing procedure. It should be noted that the determination of the setting surfaces is based on the workpiece's design intent and processing requirements. For example, some workpieces only require processing of the free edges on the front side, while some workpieces require processing of the free edges on both the front and back sides simultaneously.

[0101] Subsequently, based on the description of the workpiece shape and the defined settings in the preset workpiece parameters, the range of free edges to be processed can be accurately located, preventing inaccurate determination of the free edge range due to the difference between the front and back sides. Simultaneously, the free edge range data of the complete contour can be adjusted to eliminate contour deformation caused by factors such as scanning angle and workpiece placement deviation, resulting in an updated complete contour that perfectly matches the shape of the target workpiece. For example, the adjustment process may include contour stretching, shrinking, and local correction operations to ensure that the updated contour accurately reflects the actual shape of the target workpiece.

[0102] Finally, based on the workpiece free edge range specified in the preset workpiece parameters, the corresponding contour region is found in the updated complete contour. This region is the workpiece free edge to be processed. It should be noted that the definition of the workpiece free edge range is set in the preset workpiece parameters, such as specific sections of the workpiece edge, the edges around holes, etc. By corresponding with the updated complete contour, the area to be processed can be accurately located.

[0103] In alternative implementations, such as Figure 7 As shown, S300 detects the actual position data of the free edge of the workpiece within the data range to be processed through the detection module, including:

[0104] S310: Based on the processing data range of the workpiece's free edge, control the detection module to move to the workpiece's free edge.

[0105] S320: Select multiple detection positions on the free edge of the workpiece, and control the detection probe of the detection module to move to detect the actual position of the free edge of the workpiece at the detection position.

[0106] S330: Based on the actual position data of multiple detection positions obtained by detection, the range of the free edge of the workpiece in the range of data to be processed is corrected to obtain the actual position data of the free edge of the workpiece.

[0107] In this embodiment, a detection module detects the actual position data of the workpiece's free edge to correct deviations in the initial processing data range and ensure processing accuracy. Specifically, based on the processing data range of the workpiece's free edge, the detection module is first moved to the area where the free edge of the workpiece is located. At this point, the movement accuracy of the detection module must meet the detection requirements to avoid affecting the detection results due to movement deviations. It should be noted that the movement control of the detection module can adopt a closed-loop control method, providing real-time feedback of the detection module's position information to ensure the accuracy of the movement.

[0108] The detection module's probes possess high-precision positioning capabilities, enabling them to acquire accurate coordinate information of the detection points. Then, based on the length and shape of the workpiece's free edge, multiple detection positions are selected. These positions should be evenly distributed along the workpiece's free edge to ensure the comprehensiveness and representativeness of the detection results. For example, the number of detection positions can be adjusted according to the complexity of the workpiece's free edge; fewer detection points can be selected for straight workpiece free edges, while more detection points are needed for curved or polygonal workpiece free edges.

[0109] Finally, the detection probe is moved sequentially to each detection position to detect the actual position of the workpiece's free edge, acquiring the actual position data for each detection position. Based on this actual position data, a fitting algorithm is used to correct the range of the workpiece's free edge within the initial range of data to be processed, obtaining accurate actual position data of the workpiece's free edge. This application is not limited to this; the type of detection probe can be selected according to the processing accuracy requirements, and the selection method for the detection positions can also employ an adaptive algorithm to dynamically adjust the distribution of detection points based on the real-time detection results of the workpiece's free edge.

[0110] In a specific example, when correcting the workpiece free edge range within the initial processing data range based on the actual position data of multiple probe locations obtained from the detection, the coordinate data of all actual probe locations are first unified with the coordinates of the corresponding theoretical probe locations pre-planned within the initial processing data range. This ensures that the two types of data are in the same spatial reference system, thereby establishing a one-to-one correspondence between theoretical and actual coordinate points and clarifying the deviation direction and amount between the theoretical and actual values ​​of each probe location. Subsequently, deviation features are extracted based on the shape characteristics of the workpiece free edge. For straight free edges, the deviation values ​​of all probe points need to be calculated, and the overall offset direction and rotation angle deviation of the entire free edge are fitted. For curved or polygonal free edges... For free edges, the deviation of the detection points within each segment is calculated according to its geometric segmentation, and the local deviation features of each segment are extracted. Then, based on the extracted deviation features, following the principle of minimizing deviation, the overall contour of the free edge within the initial data range to be processed is fitted and adjusted. If there is an overall offset or rotational deviation, the initial theoretical contour is translated in the corresponding deviation direction and rotated in the deviation angle so that the fitted contour fits the actual detection points as a whole. If there is a local segmental deviation, only the corresponding segment is locally adjusted, and the non-deviation segments maintain consistency with the theoretical contour. After fitting, the corrected free edge contour needs to be compared and verified with all actual detection points to ensure that the distance from each detection point to the corrected contour meets the processing accuracy requirements.

[0111] Optionally, if there are detection points that exceed the accuracy range, the fitting parameters can be readjusted until they meet the requirements. At the same time, the corrected contour is geometrically smoothed to avoid abrupt changes in the contour due to single-point deviations, ensuring that the corrected contour meets the continuity requirements of the machining motion. Finally, based on the verified and smoothed contour, complete actual position data of the free edge of the workpiece is generated to replace the free edge range in the initial data range to be processed, serving as a reliable basis for subsequent processing.

[0112] Optionally, the selection of detection locations needs to consider the geometry of the free edge and the machining accuracy. First, key feature points such as free edge endpoints, inflection points, curvature abrupt change points, and intersections with other contours can be extracted using contour recognition algorithms, and these should all be prioritized as detection locations. Furthermore, auxiliary detection points are adaptively deployed between adjacent key feature points according to the contour type. For example, straight segments are evenly spaced according to the detection accuracy, while curved segments are appropriately densified to capture curvature changes, ensuring that the adjacent spacing does not exceed the allowable range for detection accuracy. This method of selecting detection points allows for priority detection of key feature points, identifying core areas affecting machining accuracy, quickly obtaining key information on deviations, and avoiding the need for corrections. Auxiliary detection points reduce redundancy in straight segments and ensure accuracy in curved segments, achieving a balance between accuracy and efficiency.

[0113] In alternative implementations, such as Figure 8As shown, step S300, which processes the free edge of the workpiece based on the updated range of data to be processed, includes:

[0114] S340: Determine the processing range of the processing module at the current location.

[0115] S350: Identify the free edges of all workpieces to be processed within the processing range.

[0116] S360: Determine the machining path based on the range of each workpiece's free edge, the estimated machining time, and the tool change status of the machining module, and control the machining module to machine the free edge of the workpiece based on the machining path.

[0117] In this embodiment, the process of machining the free edge of the workpiece based on the updated range of data to be processed focuses on optimizing the machining path and improving machining efficiency and quality. First, the machining range of the machining module at the current position is determined. The machining range is determined by factors such as the tool stroke and the movement stroke of the machining module.

[0118] Subsequently, the free edges of all workpieces within the processing range are identified. These free edges are then treated as a processing batch and uniformly planned. Planning the processing path based on the dimensions of the free edges, rather than the dimensions of the workpiece itself, significantly improves processing efficiency. For example, this batch identification method reduces frequent movement of the processing module and improves processing continuity. Next, based on factors such as the size of each workpiece's free edge, the estimated processing time, and the tool-changing status of the processing module, the optimal processing path is determined using a path planning algorithm. The tool-changing status primarily considers whether the current tool is suitable for processing the workpiece's free edge; if not, the tool-changing cost must be included and balanced in the path planning.

[0119] Finally, based on the determined machining path, the control system controls the machining module to process each workpiece's free edge sequentially according to preset machining process parameters. It should be noted that the machining status is monitored in real time during the machining process, including tool wear, machining temperature, and cutting force. If any abnormalities occur, the machining parameters are adjusted promptly or machining is paused to ensure machining quality. This application is not limited to this; the path planning algorithm can be selected according to actual needs, such as using a greedy algorithm or a genetic algorithm, to achieve comprehensive optimization of machining efficiency, machining quality, and tool wear.

[0120] This application also discloses an automated processing device for the free edge of a workpiece, such as... Figure 9 As shown, the device includes:

[0121] The data acquisition module 110 is used to obtain scan data by scanning the workpiece to be processed through the scanning module;

[0122] Data processing module 120 is used to extract workpiece contour data of the workpiece to be processed from the scan data, identify the free edge of the workpiece to be processed in the workpiece contour data, and obtain the processing data range of the free edge of the workpiece.

[0123] The processing control module 130 is used to detect the actual position data of the free edge of the workpiece within the processing data range by the detection module before processing the workpiece, update the processing data range based on the actual position data, and control the processing module to process the free edge of the workpiece based on the updated processing data range.

[0124] Since the principle by which this device solves the problem is similar to the methods and devices described above, the implementation of this device can be found in the implementation of the method, and will not be repeated here.

[0125] This application also provides a computer programmable logic device, 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 above-described method.

[0126] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0127] Those skilled in the art will understand that the embodiments of this application can provide methods, systems, or computer programs that produce the systems, apparatuses, modules, or units described in the above embodiments. Specifically, they can be implemented by computer chips or entities, or by products with certain functions. A typical implementation of a programmable logic device is a computer programmable logic device. Specifically, a computer programmable logic device can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation programmable logic device, email programmable logic device, game console, tablet computer, wearable programmable logic device, or any combination of these programmable logic devices.

[0128] In a typical example, a computer programmable logic device specifically includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the method executed by the client as described above, or the method executed by the server as described above.

[0129] The following is for reference. Figure 10 It shows a schematic diagram of the structure of a computer programmable logic device 600 suitable for implementing embodiments of the present application.

[0130] like Figure 10 As shown, the computer programmable logic device 600 includes a central processing unit (CPU) 601, which can perform various appropriate tasks and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage section 608 into a random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the computer programmable logic device 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0131] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal feedback (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed in storage section 608 as needed.

[0132] In particular, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program including program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611.

[0133] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage, programmable logic devices, or any other non-transferable media that can be used to store information accessible by a computer programmable logic device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0134] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0135] This application is described with reference to flowchart illustrations and / or block diagrams of methods, programmable logic devices (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing programmable logic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing programmable logic device, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0136] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing programmable logic device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0137] These computer program instructions can also be loaded onto a computer or other programmable data processing logic device, causing a series of operational steps to be executed on the computer or other programmable logic device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable logic device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0138] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or programmable logic device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or programmable logic device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or programmable logic device that includes said element.

[0139] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remotely processed programmable logic devices connected via a communication network. In a distributed computing environment, program modules can reside in local and remote computer storage media, including storage for programmable logic devices.

[0141] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0142] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. An automated machining method for the free edge of a workpiece, characterized in that, include: The scanning module scans the workpiece to be processed to obtain scanning data, extracts the workpiece contour data from the scanning data, identifies the free edge of the workpiece to be processed in the workpiece contour data, and obtains the processing data range of the free edge of the workpiece. Before processing the workpiece, the actual position data of the free edge of the workpiece within the processing data range is detected by the detection module, and the processing data range is updated based on the actual position data; The control processing module processes the free edge of the workpiece based on the updated range of data to be processed; The step of extracting the workpiece contour data of the workpiece to be processed from the scanned data includes: Multiple scan slices are obtained through multiple scans to form scan data; Based on the scanning range of the scanned slice data, adjacent scanned slice data are sequentially stitched together to obtain stitched scan data; Identify the complete contour in the stitched scan data, and determine the workpiece contour data in the complete contour; Further, prior to determining the workpiece contour data in the complete contour: Obtain the design drawings for all workpieces; The design parameters of the workpiece are read from the design drawings, and the workpiece identification, workpiece contour parameters and workpiece processing parameters are obtained by parsing the design parameters. The workpiece contour parameters include the workpiece contour perimeter and the workpiece contour area. The workpiece free edge processing parameters are obtained based on the workpiece processing parameters. The workpiece free edge processing parameters include the workpiece free edge range and processing parameters. The workpiece identifier is associated with the workpiece contour parameters and the workpiece free edge processing parameters to obtain the preset workpiece parameters. The process of determining the workpiece contour data in the complete contour includes: The perimeter and area of ​​the complete contour are compared with the perimeter and area of ​​the workpiece contour in the preset workpiece parameters. If similar target workpieces exist, extract the machining parameters of the free edge of the workpiece corresponding to the target workpiece, and use them as the workpiece contour data of the complete contour. The step of comparing the perimeter and area of ​​the complete contour with the perimeter and area of ​​the workpiece contour in the preset workpiece parameters includes: The scan data of the complete contour is geometrically processed to form a geometric contour composed of a preset geometric image; Calculate the perimeter and area of ​​the geometric contour, and compare them with the perimeter and area of ​​the workpiece contour of each workpiece in the preset workpiece parameters. If there is an approximate workpiece whose comparison result is greater than the first threshold, calculate the circumscribed polygon of the geometric contour, perform translation and angular rotation on the circumscribed polygon, and then calculate the area overlap with the approximate workpiece. If it is greater than the second threshold, then the approximate workpiece is the target workpiece corresponding to the complete contour.

2. The automated machining method for free edges of a workpiece according to claim 1, characterized in that, The step of identifying the complete contour in the stitched scan data and determining the workpiece contour data in the complete contour includes: Real-time detection of whether a complete outline exists in the stitched scan data; If present, identify the partial data containing the complete contour in the stitched scan data to determine the workpiece contour data in the complete contour; After identification is complete, mark or delete the identified data.

3. The automated machining method for free edges of a workpiece according to claim 1, characterized in that, The identification of the free edge of the workpiece to be processed in the workpiece contour data includes: The setting surface of the workpiece to be processed is determined according to the preset workpiece parameters, and the setting surface includes the front and back surfaces; Based on the preset workpiece parameters and the set surface, the data of adjusting the complete contour is used to obtain an updated complete contour that matches the shape of the target workpiece; Based on the preset workpiece parameters, the range of free edges of the workpiece in the target workpiece is obtained, and the contour region at the corresponding position in the updated complete contour is determined as the free edge of the workpiece.

4. The automated machining method for free edges of a workpiece according to claim 1, characterized in that, The detection of the actual position data of the free edge of the workpiece within the data range to be processed by the detection module includes: Based on the processing data range of the workpiece's free edge, the detection module is controlled to move to the free edge of the workpiece to be processed; Select multiple detection positions on the free edge of the workpiece, and control the detection probe of the detection module to move to detect the actual position of the free edge of the workpiece at the detection positions; Based on the actual position data of multiple detection positions obtained by detection, the range of free edges of the workpiece in the range of data to be processed is corrected to obtain the actual position data of the free edges of the workpiece.

5. The automated machining method for free edges of a workpiece according to claim 1, characterized in that, The process of machining the free edge of the workpiece based on the updated range of data to be processed includes: Determine the processing range of the processing module at the current location; Identify the free edges of all workpieces to be processed within the processing range; The machining path is determined based on the range of the free edge of each workpiece, the estimated machining time, and the tool changing status of the machining module. The machining module is then controlled to machine the free edge of the workpiece based on the machining path.

6. An automated workpiece free edge processing device, wherein the device is applied to the automated workpiece free edge processing method as described in any one of claims 1-5, characterized in that, The device includes: The data acquisition module is used to obtain scan data by scanning the workpiece to be processed through the scanning module; The data processing module is used to extract the workpiece contour data of the workpiece to be processed from the scanned data, identify the free edge of the workpiece to be processed in the workpiece contour data, and obtain the processing data range of the free edge of the workpiece. The processing control module is used to detect the actual position data of the free edge of the workpiece within the processing data range by the detection module before processing the workpiece, update the processing data range based on the actual position data, and control the processing module to process the free edge of the workpiece based on the updated processing data range.

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