Processing trajectory processing method, device, equipment and storage medium

Abstract

The application is suitable for the field of automation control technology, and provides a machining track processing method, device, equipment and storage medium.The machining track processing method comprises the following steps: acquiring data of a machining track to be processed, the machining track comprising a first line segment, a second line segment and an original circular arc, an original starting point of the original circular arc being a tangent point of the original circular arc and the first line segment, and an original ending point of the original circular arc being a tangent point of the original circular arc and the second line segment; determining an outer expansion center, an outer expansion radius, an outer expansion starting point and an outer expansion ending point of an outer expansion circular arc and expanding the original circular arc on the premise that tangent vectors of the original starting point and the original ending point remain unchanged according to circular arc filtering loss precision and the data of the machining track.The machining track processing method provided by the embodiment of the application can guarantee the continuity of the machining track after the outer expansion processing, and can make the machining speed direction change smoothly during the machining process.

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 the field of laser cutting, to ensure smoother cutting speed and acceleration, the workpiece contour (i.e., the machining trajectory) is typically filtered before processing. Currently, the CNC program for the workpiece contour mainly consists of a combination of line segments and arcs. Filtering has little impact on the machining accuracy of line segments, but for arcs, it causes the machined arc curve to shrink inward. (Reference) Figure 1 The "water droplet" diagram shows the theoretical machining trajectory as programmed by CNC, with the solid line representing the actual machining trajectory after filtering. While there are some solutions in the industry to prevent the machining of circular curves from shrinking inwards, these solutions can cause abrupt changes in the direction of machining speed. Summary of the Invention

[0003] The embodiments of this application provide a processing trajectory processing method, apparatus, device and storage medium, which can ensure the continuity of the processing trajectory after expansion processing, enable the processing speed direction to change smoothly during processing, and avoid sudden changes in the processing speed direction.

[0004] In a first aspect, embodiments of this application provide a processing trajectory processing method, comprising:

[0005] Data of the processing trajectory to be processed is obtained. The processing trajectory includes a first line segment, a second line segment, and an original arc. One end of the original arc is tangent to the first line segment, and the other end of the original arc is tangent to the second line segment. The original starting point of the original arc is the point of tangency between the original arc and the first line segment, and the original ending point of the original arc is the point of tangency between the original arc and the second line segment. Based on the accuracy of the circular arc filtering and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point and outer ending point of the outer arc are determined, and the original circular arc is expanded.

[0006] In one possible implementation of the first aspect, the step of determining the outer center, outer radius, outer starting point, and outer ending point of the outward-expanding arc based on the arc filtering loss accuracy and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, and then expanding the original arc, includes: Based on the data of the processing trajectory, determine the central angle of the original arc; Based on the central angle, the arc filtering loss accuracy, and the processing trajectory data, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is expanded.

[0007] In one possible implementation of the first aspect, the central angle is 180°; Based on the data of the central angle, the arc filtering loss accuracy, and the machining trajectory, while maintaining the original tangential vectors of the original starting point and the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is expanded, including: Based on the data of the central angle and the machining trajectory, determine the midpoint of the original arc; Based on the midpoint of the original arc, the arc filtering loss accuracy, and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is then expanded.

[0008] In one possible implementation of the first aspect, the central angle is less than 180° or greater than 180°; Based on the data of the central angle, the arc filtering loss accuracy, and the machining trajectory, while maintaining the original tangential vectors of the original starting point and the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is expanded, including: Based on the data of the central angle and the machining trajectory, determine the midpoint of the original arc; Based on the central angle, the arc filtering loss accuracy, and the data of the machining trajectory, determine the translation distance of the original starting point along the tangential vector direction; Based on the data of the central angle, the midpoint of the original arc, the translation distance, and the processing trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is then expanded.

[0009] In one possible implementation of the first aspect, after determining the outer center, outer radius, outer starting point, and outer ending point of the outer arc based on the arc filtering loss accuracy and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, and expanding the original arc, the method further includes: The processing trajectory after the expansion process is filtered.

[0010] In one possible implementation of the first aspect, after determining the outer center, outer radius, outer starting point, and outer ending point of the outer arc based on the arc filtering loss accuracy and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, and expanding the original arc, the method further includes: The processing speed is planned for the processing trajectory after the expansion process.

[0011] Secondly, embodiments of this application provide a processing trajectory processing apparatus, comprising: A data acquisition module for acquiring data of the processing trajectory to be processed; The processing trajectory includes a first line segment, a second line segment, and an original arc. One end of the original arc is tangent to the first line segment, and the other end of the original arc is tangent to the second line segment. The original starting point of the arc is the point of tangency between the original arc and the first line segment, and the original ending point of the arc is the point of tangency between the original arc and the second line segment. This module is used to determine the outer center, outer radius, outer starting point, and outer ending point of the outer arc based on the arc filtering loss accuracy and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, and to expand the trajectory of the original arc.

[0012] 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 processing trajectory processing method described in any of the first aspects above.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the processing trajectory processing method described in any of the first aspects above.

[0014] Fifthly, embodiments of this application provide a computer program product that, when running on a terminal device, causes the terminal device to execute the processing trajectory processing method described in any of the first aspects above.

[0015] The beneficial effects of the embodiments of this application are: After acquiring the data of the machining trajectory to be processed, based on the accuracy loss of the circular arc filter and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the original circular arc is expanded outward, and the center, radius, starting point and ending point of the expanded circular arc are determined. This ensures the continuity of the machining trajectory after the expansion process, allows the machining speed direction to change smoothly during the machining process, avoids sudden changes in the machining speed direction that may affect the machining quality of the part surface, and improves the machining quality. Attached Figure Description

[0016] 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.

[0017] Figure 1 It is a schematic diagram of a teardrop-shaped processing trajectory; Figure 2 This is a schematic flowchart of a machining trajectory processing method provided in an embodiment of this application; Figure 3 This is a schematic diagram of a machining trajectory including a superior arc provided in an embodiment of this application; Figure 4 This is a flowchart illustrating step A2 of the machining trajectory processing method provided in an embodiment of this application; Figure 5 This is a schematic diagram of a machining trajectory including a semicircle provided in an embodiment of this application; Figure 6 This is a schematic diagram of a machining trajectory including a minor arc provided in an embodiment of this application; Figure 7 This is a flowchart illustrating step A22 of the machining trajectory processing method provided in an embodiment of this application; Figure 8 This is a flowchart illustrating step A2 of the machining trajectory processing method provided in another embodiment of this application; Figure 9 This is a flowchart illustrating a processing trajectory processing method provided in another embodiment of this application; Figure 10 This is a schematic flowchart of a processing trajectory processing method provided in another embodiment of this application; Figure 11 This is a schematic diagram of the structure of a processing trajectory processing device provided in an embodiment of this application; Figure 12 This is a schematic diagram of the trajectory expansion module of a processing trajectory processing device provided in one embodiment of this application; Figure 13 This is a schematic diagram of the structure of the external expansion submodule of the processing trajectory processing device provided in another embodiment of this application; Figure 14 This is a schematic diagram of the structure of the external expansion submodule of the processing trajectory processing device provided in another embodiment of this application; Figure 15 This is a schematic diagram of the structure of a processing trajectory processing device provided in another embodiment of this application; Figure 16 This is a schematic diagram of the structure of a processing trajectory processing device provided in another embodiment of this application; Figure 17 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Detailed Implementation

[0018] 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 17 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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]."

[0023] 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.

[0024] 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.

[0025] The embodiments of this application provide a processing trajectory processing method that can be applied to laser processing, such as laser cutting or laser marking.

[0026] Figure 2 This is a schematic flowchart of a machining trajectory processing method provided in one embodiment of this application. (Reference) Figure 2 The processing trajectory processing method provided in the embodiments of this application includes steps A1 and A2.

[0027] Step A1: Obtain the data of the processing trajectory to be processed.

[0028] Figure 3 This is a schematic diagram of a machining trajectory including a superior arc according to an embodiment of this application. (Reference) Figure 3 The processing trajectory to be processed includes the first line segment. Second line segment and the original arc Original circular arc One end and the first line segment Connect the two ends, with the other end connected to the second line segment. connect.

[0029] Specifically, the original arc One end and the first line segment Tangent, original circular arc The other end and the second line segment Tangent. Original circular arc The original starting point is the original circular arc. The point of tangency with the first line segment, the original arc The original endpoint is the original arc. With the second line segment The point of tangency.

[0030] The machining trajectory data includes the original circular arc. The original center of the circle Original arc original radius Original arc The original starting point P 1. Original circular arc The original endpoint P 2. First line segment The starting point P 0. First line segment The End P 1. Second line segment The starting point P 2. and the second line segment The End P 3. Among them, the original circular arc The original starting point P 1 is also the first line segment The End P 1, which is also the original arc. With the first line segment The point of tangency or junction; the original arc The original endpoint P 2 is also the second line segment The starting point P 2, also the original circular arc With the second line segment The point of tangency or junction.

[0031] After obtaining the data of the processing trajectory to be processed, the first line segment can be determined first. With the original arc Whether they are tangent, and determining the second line segment. With the original arc Are they tangent? First, determine the original arc. The starting tangential vector and endpoint tangential vector : ; ; .

[0032] In the above formula, and For CNC circular arc programming instructions, It is a clockwise arc. It is a counterclockwise arc. T 1 represents the original circular arc. The original starting point P1 to the original arc The original center of the circle The unit direction vector, T 2 represents the original arc. The original endpoint P 2 to the original arc The original center of the circle The unit direction vector.

[0033] make Then the point of tangency The angle at the point and tangent point The angle at the point : .

[0034] T 3 is the first line segment The unit direction vector, T 4 is the second line segment The unit direction vector.

[0035] like and If both are 0, it means the first line segment With the original arc Tangent, and the second line segment With the original arc If the arc in the continuous machining trajectory is tangent, it is the target arc that needs to be expanded outward. The arc needs to be expanded outward. Otherwise, the original state of the machining trajectory is maintained or the machining trajectory is processed in other ways.

[0036] Step A2: Based on the data of the arc filtering loss accuracy and the machining trajectory, while keeping the original tangential vector of the original starting point and the original tangential vector of the original ending point, determine the outer center, outer radius, outer starting point and outer ending point of the outer arc, and then expand the original arc.

[0037] The accuracy of the circular arc filtering loss is preset, and its specific value is determined by the processing equipment. Typically, the circular arc filtering loss error... , For the original arc The midpoint, For the outward expansion arc The midpoint.

[0038] Based on the data of the arc filtering loss accuracy and the machining trajectory, the outer center, outer radius, outer starting point and outer ending point of the outer arc can be determined. Then, the original arc is expanded based on the outer center, outer radius, outer starting point and outer ending point.

[0039] Figure 4This is a flowchart illustrating step A2 of the machining trajectory processing method provided in an embodiment of this application. (See reference) Figure 4 Step A2 above may include steps A21 and A22.

[0040] Step A21: Determine the central angle of the original arc based on the data of the machining trajectory.

[0041] Specifically, based on the original arc The original center of the circle Original arc The original starting point P 1. and the original arc The original endpoint P 2. The original arc can be determined. central angle : .

[0042] Figure 5 This is a schematic diagram of a machining trajectory including a semicircle provided in an embodiment of this application. Figure 6 This is a schematic diagram of a machining trajectory including a minor arc, provided in one embodiment of this application. (Reference) Figure 3 , Figure 5 and Figure 6 According to the central angle The size of the arc can be used to classify the original arc into minor arc, semicircle and major arc. The outward expansion treatment of different arcs is different, as detailed below.

[0043] Step A22: Based on the data of the central angle, arc filtering loss accuracy, and machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, determine the outer center, outer radius, outer starting point, and outer ending point of the outer arc, and then expand the original arc.

[0044] If the original arc central angle If it is 180°, then the original arc For a semicircle, the outer center, outer radius, outer starting point and outer ending point of the outer arc can be determined based on the data of the central angle, arc filtering loss accuracy and machining trajectory, thus expanding the semicircle.

[0045] Figure 7 This is a flowchart illustrating step A22 of the machining trajectory processing method provided in an embodiment of this application. (See reference) Figure 7 Specifically, step A22 above may include steps A221 and A222.

[0046] Step A221: Determine the midpoint of the original arc based on the data of the central angle and the machining trajectory.

[0047] For the original arc The midpoint, according to the central angle Original center Original radius R and unit direction vector T 2. The midpoint of the original circular arc can be determined. P m The calculation process is as follows: .

[0048] Among them, angle α The original center O 1 to the midpoint of the arc P m The direction vector O 1 P m The angle between the coordinate system and the positive X-axis.

[0049] Step A222: Based on the data of the midpoint of the original arc, the arc filtering loss accuracy, and the machining trajectory, while keeping the original tangential vector of the original starting point and the original tangential vector of the original ending point, determine the outer center, outer radius, outer starting point, and outer ending point of the outer arc, and then expand the original arc.

[0050] As mentioned earlier, based on the central angle The size of the original arc can be divided into minor arc, semicircle or major arc, and the outward expansion treatment of different arcs is different.

[0051] If the central angle (i.e., central angle) (180°), based on the midpoint of the original arc, the arc filtering loss accuracy, and the machining trajectory data, the original arc can be determined. Expand outward into an arc The outer center of the circle after expansion O 1 ’ Outer radius R’ , outward expansion starting point P 1 ’ and the outer end point P 2 ’ : .

[0052] Central angle It may also be less than 180° or greater than 180°. In these cases, the arc expansion treatment is related to the central angle. The difference is 180°, specifically manifested in the difference in step A22.

[0053] Figure 8This is a flowchart illustrating step A2 of the machining trajectory processing method provided in another embodiment of this application. (See reference) Figure 8 Specifically, if the central angle If the angle is less than 180° or greater than 180°, step A22 above includes steps A221', A222' and A223'.

[0054] Step A221': Determine the midpoint of the original arc based on the data of the central angle and the machining trajectory.

[0055] For the original arc The midpoint, according to the central angle Original center Original radius R and unit direction vector T 2. The midpoint of the original circular arc can be determined. P m The calculation process is as follows: .

[0056] Among them, angle α The original center O 1 to the midpoint of the arc P m The direction vector O 1 P m The angle between the coordinate system and the positive X-axis.

[0057] Step A222': Based on the data of the central angle, the accuracy of the arc filtering loss, and the machining trajectory, determine the translation distance of the original starting point along the tangential vector direction.

[0058] At the central angle In cases where the angle is less than 180° or greater than 180°, to accurately expand the original arc, it is necessary to determine the translation distance of the original starting point of the original arc along the tangential vector direction. d .

[0059] If the central angle If the angle is less than 180°, then the translation distance is... d The solution is: ; In the above formula, Solving the above equations simultaneously, we can obtain the translation distance. .

[0060] If the central angle If the angle is greater than 180°, then the translation distance is... d The solution is: ; Solving .

[0061] Step A223': Based on the data of the central angle, the midpoint of the original arc, the translation distance, and the machining trajectory, while keeping the original tangential vector of the original starting point and the original tangential vector of the original ending point, determine the outer center, outer radius, outer starting point, and outer ending point of the outer arc, and then expand the original arc.

[0062] Determine the translation distance d Next, determine the outer arc. outer center O 1 ’ Outer radius R’ , outward expansion starting point P 1 ’ and the outer end point P 2 ’ .

[0063] If the central angle Less than 180°, that is Then the outer arc outer center O 1 ’ Outer radius R’ , outward expansion starting point P 1 ’ and the outer end point P 2 ’ : .

[0064] If the central angle Greater than 180°, that is Then the outer arc outer center O 1 ’ Outer radius R’ , outward expansion starting point P 1 ’ and the outer end point P 2 ’ : .

[0065] It can be seen that the central angle Outward expansion arc less than 180° The parameters are determined (i.e., the center of the outer circle). O 1 ’ Outer radius R’ , outward expansion starting point P 1 ’ and the outer end point P 2 ’ (determination of) and central angle Outward expansion arc greater than 180° The parameters are definitely the same.

[0066] As can be seen from the above, after obtaining the data of the machining trajectory to be processed, based on the accuracy loss of the circular arc filter and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point and outer ending point of the outer arc are determined, and the original circular arc is expanded. This can ensure the continuity of the machining trajectory after the outer arc is expanded, make the machining speed direction change smoothly during the machining process, avoid sudden changes in the machining speed direction that would affect the machining quality of the part surface, and improve the machining quality.

[0067] Figure 9 This is a schematic flowchart of a machining trajectory processing method provided in another embodiment of this application. (Reference) Figure 9 The above-mentioned processing trajectory processing method may also include step B1 after step A2.

[0068] Step B1: Filter the machining trajectory after the expansion process.

[0069] Specifically, the machining trajectory (such as the workpiece contour) after the expansion process is performed before machining.

[0070] Since the original arc of the machining trajectory has been expanded in advance, it can compensate for the shrinkage caused by filtering on the machining trajectory and make up for the machining loss caused by filtering in advance.

[0071] Figure 10 This is a schematic flowchart of a machining trajectory processing method provided in another embodiment of this application. (Reference) Figure 10 The above-mentioned processing trajectory processing method may also include step C1 after step A2.

[0072] Step C1: Plan the processing speed for the processing trajectory after the expansion process.

[0073] Processing speed planning includes planning the connection speed. After the speed planning is completed, processing can be achieved through kernel interpolation.

[0074] The machining trajectory processing method provided in the embodiments of this application can be completed in the look-ahead module of the CNC system of the machining equipment. The look-ahead module includes trajectory pre-reading, arc expansion processing, connection speed determination, and trajectory data output. To improve kernel computation efficiency, the look-ahead module is placed in the compiler, and the kernel only performs real-time interpolation and processing on the trajectory data output by the look-ahead module.

[0075] The main task of trajectory pre-reading is to organize and transmit trajectory data.

[0076] The machining trajectory processing method provided in the embodiments of this application is circular arc expansion processing. In the trajectory preprocessing process, the circular arc is expanded in advance according to the accuracy loss of the kernel circular arc filtering, so as to improve the machining accuracy of the circular arc.

[0077] The machining trajectory processing method provided in the embodiments of this application preprocesses the original circular arc in advance during the trajectory preprocessing stage. Expand outward into an arc Then, through speed planning and real-time kernel interpolation, high-precision machining of machining trajectories with arcs can be achieved. After such processing, the machining loss caused by filtering of the arc can be compensated in advance, making the arc of the actual machining trajectory closer to the arc of the CNC programming, thus improving machining accuracy.

[0078] 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.

[0079] Corresponding to the method described in the above embodiments, Figure 11 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.

[0080] The processing trajectory processing device provided in the embodiments of this application includes a data acquisition module 1A and a trajectory expansion module 2A.

[0081] The data acquisition module 1A is used to acquire data of the processing trajectory to be processed.

[0082] The aforementioned processing trajectory includes a first line segment, a second line segment, and an original circular arc. One end of the original circular arc is tangent to the first line segment, and the other end is tangent to the second line segment. The original starting point of the arc is the point of tangency between the original circular arc and the first line segment. The original ending point of the arc is the point of tangency between the original circular arc and the second line segment.

[0083] The trajectory expansion module 2A is used to expand the original circular arc based on the circular arc filtering loss accuracy and machining trajectory data, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, and to determine the expansion center, expansion radius, expansion starting point and expansion ending point of the expanded original circular arc.

[0084] Figure 12 This is a schematic diagram of the trajectory expansion module of a processing trajectory processing device according to an embodiment of this application. (Reference) Figure 12 The aforementioned trajectory expansion module 2A may include a central angle determination submodule 21A and an expansion submodule 22A.

[0085] The central angle determination submodule 21A is used to determine the central angle of the original arc based on the data of the machining trajectory.

[0086] The outward expansion submodule 22A is used to: determine the outward expansion center, outward expansion radius, outward expansion start point and outward expansion end point of the outward expansion arc based on the data of the central angle, arc filtering loss accuracy and machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, and then expand the original arc.

[0087] Figure 13 This is a schematic diagram of the structure of an external submodule of a processing trajectory processing device provided in another embodiment of this application. (Reference) Figure 13 The aforementioned expansion submodule 22A may include a first midpoint determination unit 221A and a first expansion execution unit 222A.

[0088] The first midpoint determination unit 221A is used to determine the midpoint of the original arc based on the data of the central angle and the machining trajectory.

[0089] The first expansion execution unit 222A is used to: determine the expansion center, expansion radius, expansion start point and expansion end point of the expansion arc based on the data of the midpoint of the original arc, the arc filtering loss accuracy and the machining trajectory, while keeping the original tangential vector of the original starting point and the original tangential vector of the original ending point, and then expand the original arc.

[0090] Figure 14 This is a schematic diagram of the structure of an external submodule of a processing trajectory processing device provided in another embodiment of this application. (Reference) Figure 14 The aforementioned expansion submodule 22A may include a second midpoint determination unit 221A', a distance determination unit 222A', and a second expansion execution unit 223A'.

[0091] The second midpoint determination unit 221A' is used to determine the midpoint of the original arc based on the data of the central angle and the machining trajectory.

[0092] The distance determination unit 222A' is used to determine the translation distance of the original starting point along the tangential vector direction based on the data of the central angle, the accuracy of the circular arc filtering loss and the machining trajectory.

[0093] The second expansion execution unit 223A' is used to: determine the expansion center, expansion radius, expansion start point and expansion end point of the expansion arc based on the data of the central angle, the midpoint of the original arc, the translation distance and the machining trajectory, while keeping the original tangential vector of the original starting point and the original tangential vector of the original ending point, and expand the original arc.

[0094] Figure 15 This is a schematic diagram of the processing trajectory processing device provided in another embodiment of this application. (Reference) Figure 15The aforementioned processing trajectory processing device may further include a filtering processing module 1B.

[0095] The filtering module 1B is used to filter the machining trajectory after the external expansion process.

[0096] Figure 16 This is a schematic diagram of the processing trajectory processing device provided in another embodiment of this application. (Reference) Figure 16 The aforementioned processing trajectory processing device may further include a speed planning module 1C.

[0097] Speed ​​planning module 1C is used to plan the processing speed of the processing trajectory after the external expansion process.

[0098] 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.

[0099] Figure 17 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Figure 17 As shown, the processing equipment 17 of this embodiment includes: at least one processor 170 ( Figure 17 Only one is shown in the diagram), memory 171, and computer program 172 stored in memory 171 and executable on at least one processor 170; when processor 170 executes computer program 172, it implements the steps in the various method embodiments described above.

[0100] The processing equipment 17 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 170 and a memory 171. Those skilled in the art will understand that... Figure 17 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.

[0101] The processor 170 can be a Central Processing Unit (CPU), but it can also 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.

[0102] In some embodiments, memory 171 may be an internal storage unit of the processing apparatus 17, such as a hard disk or memory of the processing apparatus. In other embodiments, memory 171 may be an external storage device of the processing apparatus, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the processing apparatus. Furthermore, memory 171 may include both internal and external storage units of the processing apparatus. Memory 171 is used to store operating systems, applications, boot loaders, data, and other programs, such as program code for computer programs. Memory 171 may also be used to temporarily store data that has been output or will be output.

[0103] For example, computer program 172 may be divided into one or more modules / units, one or more of which are stored in memory 171 and executed by processor 170 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 172 in processing equipment 17.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] 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 method for processing machining trajectories, characterized in that, include: Data of the processing trajectory to be processed is obtained. The processing trajectory includes a first line segment, a second line segment, and an original arc. One end of the original arc is tangent to the first line segment, and the other end of the original arc is tangent to the second line segment. The original starting point of the original arc is the point of tangency between the original arc and the first line segment, and the original ending point of the original arc is the point of tangency between the original arc and the second line segment. Based on the accuracy of the circular arc filtering and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point and outer ending point of the outer arc are determined, and the original circular arc is expanded.

2. The machining trajectory processing method as described in claim 1, characterized in that, Based on the arc filtering loss accuracy and the processing trajectory data, while maintaining the original tangential vectors of the original starting point and the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is expanded, including: Based on the data of the processing trajectory, determine the central angle of the original arc; Based on the central angle, the arc filtering loss accuracy, and the processing trajectory data, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is expanded.

3. The machining trajectory processing method as described in claim 2, characterized in that, The central angle is 180°; Based on the data of the central angle, the arc filtering loss accuracy, and the machining trajectory, while maintaining the original tangential vectors of the original starting point and the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is expanded, including: Based on the data of the central angle and the machining trajectory, determine the midpoint of the original arc; Based on the midpoint of the original arc, the arc filtering loss accuracy, and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is then expanded.

4. The machining trajectory processing method as described in claim 1, characterized in that, The central angle is less than 180° or greater than 180°; Based on the data of the central angle, the arc filtering loss accuracy, and the machining trajectory, while maintaining the original tangential vectors of the original starting point and the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is expanded, including: Based on the data of the central angle and the machining trajectory, determine the midpoint of the original arc; Based on the central angle, the arc filtering loss accuracy, and the data of the machining trajectory, determine the translation distance of the original starting point along the tangential vector direction; Based on the data of the central angle, the midpoint of the original arc, the translation distance, and the processing trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, the outer center, outer radius, outer starting point, and outer ending point of the outer arc are determined, and the original arc is then expanded.

5. The machining trajectory processing method as described in claim 1, characterized in that, After determining the expansion center, expansion radius, expansion start point, and expansion end point of the outward-expanding arc based on the arc filtering loss accuracy and the processing trajectory data, while maintaining the original tangential vectors of the original starting point and the original ending point, and expanding the original arc, the process further includes: The processing trajectory after the expansion process is filtered.

6. The machining trajectory processing method according to any one of claims 1 to 5, characterized in that, After determining the expansion center, expansion radius, expansion start point, and expansion end point of the outward-expanding arc based on the arc filtering loss accuracy and the processing trajectory data, while maintaining the original tangential vectors of the original starting point and the original ending point, and expanding the original arc, the process further includes: The processing speed is planned for the processing trajectory after the expansion process.

7. A processing trajectory processing device, characterized in that, include: A data acquisition module for acquiring data of the processing trajectory to be processed, wherein the processing trajectory includes a first line segment, a second line segment, and an original arc, one end of the original arc is tangent to the first line segment, the other end of the original arc is tangent to the second line segment, the original starting point of the arc is the point of tangency between the original arc and the first line segment, and the original ending point of the arc is the point of tangency between the original arc and the second line segment; This module is used to determine the outer center, outer radius, outer starting point, and outer ending point of the outer arc based on the arc filtering loss accuracy and the data of the machining trajectory, while maintaining the original tangential vector of the original starting point and the original tangential vector of the original ending point, and to expand the trajectory of the original arc.

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.

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