Processing methods, apparatus, systems, and computer-readable media

Abstract

The application discloses a processing method, device, system and computer readable medium, the method comprising: obtaining a processing file, and determining a target path segment to be executed according to the processing file; according to the contour track corresponding to the target path segment and the current angle of the processing head, predicting the cumulative rotation angle of the processing head required to rotate relative to the preset initial angle during the execution of the processing operation on the target path segment; when the cumulative rotation angle is within the preset interval, controlling the processing head to process the target path segment according to the contour track; when there is a cumulative rotation angle exceeding the preset interval, controlling the processing head to perform a reset operation, and after the reset operation is completed, controlling the processing head to process the target path segment. By predicting the cumulative rotation angle of the processing head during the execution of the target path segment and judging whether it exceeds the preset interval, the application can prevent the equipment from mechanical limiting or cable winding, thereby ensuring the safety of processing.

Description

Technical Field

[0001] This application belongs to the field of processing technology, specifically relating to a processing method, equipment, system, and computer-readable medium. Background Technology

[0002] In existing machining equipment, a rotary mechanism is used to drive the machining head to rotate in order to complete the machining of complex contours. However, in the traditional machining process, when the rotary mechanism drives the machining head to be continuously adjusted (such as rotated), its rotation angle will continue to accumulate. When the accumulated rotation angle is too large, it may cause the rotary mechanism to reach its mechanical limit, or the continuous unidirectional rotation may cause the flexible parts (such as cables and hoses) connected to the rotary mechanism to become entangled, the wire harness to become fatigued or even break, thereby affecting the machining quality and machining safety. Summary of the Invention

[0003] The purpose of this application is to provide a processing method, equipment, system, and computer-readable medium to ensure processing quality and safety.

[0004] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0005] According to one aspect of the embodiments of this application, a processing method is provided, applied to a processing device, the processing device including a processing head, the processing head being used to perform processing; the method includes:

[0006] Obtain the processing file, and determine the target path segment for the processing operation to be performed based on the processing file; Based on the contour trajectory corresponding to the target path segment and the current angle of the processing head, predict the cumulative rotation angle that the processing head needs to rotate relative to a preset initial angle during the processing operation on the target path segment; the preset initial angle is the starting angle of the processing head before performing the processing operation according to the processing file. When the cumulative rotation angle is within a preset range, the processing head is controlled to process the target path segment according to the contour trajectory. When the cumulative rotation angle exceeds the preset range, the processing head is controlled to perform a reset operation, and after the reset operation is completed, the processing head is controlled to process the target path segment.

[0007] According to one aspect of the embodiments of this application, a processing apparatus is provided, comprising: The host includes a main body of the equipment and a processing platform connected to the main body of the equipment, the processing platform being used to carry the workpiece to be processed; The processing head is connected to the main body of the equipment and is used to process the workpiece to be processed; A rotating mechanism is connected to the processing head via a transmission; the rotating mechanism is used to drive the processing head to rotate. A moving component is connected to the machining head and / or the machining platform for driving the machining head and / or the machining platform to move along at least one of the X-axis, Y-axis, and Z-axis. Cables are used to connect the processing head and the main body of the equipment; A communication component used to receive processing files; The controller is electrically connected to the rotating mechanism, the moving component, and the cable, respectively. The controller is used to control the machining head to process the workpiece according to the processing file. If, during the machining operation on the target path segment, the machining head accumulates a rotation angle exceeding a preset range, the controller controls the machining head to perform a reset operation. The accumulated rotation angle is predicted by the controller before the machining head performs the machining operation on the target path segment, based on the contour trajectory corresponding to the target path segment, the current angle of the machining head, and a preset initial angle.

[0008] According to one aspect of the embodiments of this application, the processing head includes an ultrasonic scalpel, the ultrasonic scalpel includes an ultrasonic transducer, the ultrasonic transducer is electrically connected to the controller via the cable, and the controller controls the processing head to perform the reset operation, during which the controller controls the ultrasonic transducer to stop transducing.

[0009] According to one aspect of the embodiments of this application, the processing head is detachably connected to the device body, and the processing head includes at least one of an ultrasonic scalpel, a disc scalpel, and a cutting scalpel, and the device body can be selectively connected to one of the processing heads.

[0010] According to one aspect of the embodiments of this application, a processing system is provided, comprising: At least one data processor; and At least one memory stores instructions that, when executed by the at least one data processor, implement the processing method provided in any embodiment of this application.

[0011] According to one aspect of the embodiments of this application, a computer-readable medium is provided having a computer program stored thereon, which, when executed by a processor, implements the processing method provided in any embodiment of this application.

[0012] In the technical solution provided in this application embodiment, a processing file is first obtained, and a target path segment for the processing operation to be performed is determined based on the processing file. Then, based on the contour trajectory corresponding to the target path segment and the current angle of the processing head, the cumulative rotation angle required by the processing head to rotate relative to a preset initial angle during the processing operation on the target path segment is predicted. The preset initial angle is the starting angle of the processing head before performing the processing operation according to the processing file. When the cumulative rotation angle is within a preset range, the processing head is controlled to process the target path segment according to the contour trajectory. When the cumulative rotation angle exceeds the preset range, the processing head is controlled to perform a reset operation, and after the reset operation is completed, the processing head is controlled to process the target path segment. In this way, by predicting the cumulative rotation angle of the processing head relative to the initial angle during the execution of the target path segment and determining whether it exceeds the preset range, it is possible to prevent the processing head from generating excessive net rotation accumulation after continuously executing multiple path segments, thereby reducing the risk of the equipment hitting mechanical limits or cable entanglement, and ensuring processing quality and safety.

[0013] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0015] Figure 1 A schematic diagram of the architecture of a processing system applying the technical solution of this application is shown.

[0016] Figure 2A A schematic diagram of the processing equipment using the technical solution of this application is shown.

[0017] Figure 2B A schematic diagram of the processing equipment using the technical solution of this application is shown.

[0018] Figure 3 A flowchart illustrating a processing method provided in one embodiment of this application is shown schematically.

[0019] Figure 4 The diagram illustrates the interface for setting the pattern to be processed provided in one embodiment of this application.

[0020] Figure 5AA schematic diagram of a preset interval provided in one embodiment of this application is shown.

[0021] Figure 5B The schematic illustration shows a preset interval determination interface provided in one embodiment of this application.

[0022] Figure 6 A schematic diagram illustrating the execution timing comparison of a path segment provided in one embodiment of this application is shown.

[0023] Figure 7 A flowchart illustrating the processing method provided in the embodiments of this application is shown schematically.

[0024] Figure 8 A schematic block diagram of the processing apparatus provided in the embodiments of this application is shown.

[0025] Figure 9 A schematic diagram of a computer system architecture suitable for implementing the technical solutions of this application is shown. Detailed Implementation

[0026] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0027] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0028] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0029] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0030] Figure 1 A schematic diagram of the architecture of a processing system applying the technical solution of this application is shown.

[0031] like Figure 1 As shown, the processing system 100 may include a terminal device 110 and a processing device 120, which are connected by a communication connection, which can be a wired or wireless communication connection. The terminal device 110 may include devices such as smartphones, tablets, laptops, smart voice interaction devices, smart home appliances, and vehicle terminals, capable of sending control commands to the processing device 120. The processing device 120 may be an automated processing device containing a rotating mechanism to which cables (such as power cords, signal lines, gas lines, or liquid lines) are connected. The rotating mechanism of this type of device is mechanically connected to the processing head and needs to rotate continuously according to changes in the trajectory direction during processing. However, if it rotates continuously in the same direction for a long period, the connected cables may gradually twist, become tangled, or even break, thus affecting the normal operation of the equipment.

[0032] For example, the processing equipment 120 may include, but is not limited to: cutting equipment, integrated cutting and printing equipment, ultrasonic processing equipment (such as ultrasonic scalpel cutting equipment, ultrasonic welding equipment), laser processing equipment (such as laser cutting equipment, laser welding equipment), additive manufacturing equipment (such as 3D printing equipment), and other processing equipment that has the requirement of synchronous movement of rotating mechanisms and cables.

[0033] Figure 2A and 2B A schematic diagram of the processing equipment architecture using the technical solution of this application is shown.

[0034] like Figure 2A and 2B As shown, the processing equipment in this embodiment is an integrated cutting and printing device. The device mainly includes a host 200, a processing head 300, a rotating mechanism 400, a moving component 500, a cable 600 (not fully shown), a communication component (not shown in the figure), and a controller (not shown in the figure).

[0035] The host 200 includes a main body 210 and a processing platform 220 connected to the main body 210. The processing platform 220 is used to carry the workpiece to be processed, so as to provide stable and reliable support for the workpiece during the processing.

[0036] The processing head 300 includes a cutting head 310 and a printing head 320. The main body 210 can selectively connect to one of the processing heads 300 to achieve cutting or printing. For example, the cutting head 310 is a replaceable component and may include at least one of the following: ultrasonic scalpel, disc cutter, cutting blade, electrothermal cutter, electric rotary cutter, small milling cutter, grinding head, or plasma cutting head. Users can flexibly select the appropriate type of cutting head 310 according to actual processing needs. For example, when processing leather or sandwich composite panels, an ultrasonic scalpel can be preferred, as the vibration cutting of the ultrasonic scalpel can reduce the problem of warping edges on the workpiece and ensure a neat cut surface. The printing head 320 is used to perform inkjet printing or coating operations. When the device is configured in printing mode, the controller switches to the corresponding printing control logic, driving the printing head 320 to perform the printing task according to the processing file. Of course, for processing devices with only a single cutting function, the printing head 320 can be omitted.

[0037] In one embodiment, the host 200 further includes a mounting base 230 that is pulsatorically connected to the moving component 500. The mounting base 230 is used to mount the cutting head 310 and the printing head 320. The mounting base 230 is provided with a cutting head fixing module 231 for detachably mounting and locking the cutting head 310. The cutting head 310 specifically includes a blade 311 and a handle 312. The blade 311 is mounted on the handle 312 and is the end cutting component that directly contacts the workpiece and performs the cutting operation. The handle 312 is detachably connected to the cutting head fixing module 231.

[0038] In one embodiment, based on the rotation mechanism of the cutting head, the cutting head 310 is generally divided into active cutters and passive cutters. Active cutters refer to cutters whose rotational power is directly provided by the power mechanism of the main body of the equipment, such as the rotation mechanism 400 in this embodiment. Their rotational motion originates from the power output of the main body of the equipment and is independent of whether the material being cut is in contact or moving; even under no-load conditions, the cutter will rotate under drive. Passive cutters refer to cutters that do not receive rotational power input from the power mechanism of the main body of the equipment. They either do not rotate at all, or only rotate passively when in contact with the material due to external forces such as friction and relative material movement. Their cutting action depends on the equipment driving the entire cutter to move along the cutting path.

[0039] For the active blade, a transmission structure can also be provided on the handle 312. This transmission structure is connected to the rotating mechanism 400 mounted on the mounting base 230, so that the rotating mechanism 400 can drive the cutting head 310 to rotate by driving the transmission structure. In one embodiment, the transmission structure and the rotating mechanism 400 can be connected by gear meshing. For example, as shown in Figure 2, the transmission structure can include a passive gear 3121, which is disposed on the circumferential outer wall of the handle 312. Correspondingly, the rotating mechanism 400 includes a rotary motor and an active gear 410 connected to the rotary motor. The active gear 410 is used to mesh with the passive gear 3121.

[0040] Furthermore, a high-precision angle encoder can be installed on the rotating mechanism 400 or the cutting head 310. The angle encoder is used to directly or indirectly detect the rotation angle of the cutter head 311, so that the controller controls the rotating mechanism 400 to drive the cutting head 310 to rotate precisely to the target angle according to the processing file.

[0041] In some embodiments, when the active blade is an electric blade, such as an ultrasonic scalpel, an electrothermal scalpel, or an electric circular scalpel, such an active blade will establish an electrical connection with the device body 210 via a cable 600, so that these active blades can perform their own electric functions.

[0042] Taking an ultrasonic scalpel as an example, the handle 312 of the ultrasonic scalpel contains an ultrasonic transducer. The ultrasonic transducer is used to convert externally input electrical signals into high-frequency mechanical vibrations, thereby driving the cutter head 311 to vibrate at high frequency to achieve cutting.

[0043] Taking the electric heating knife as an example, its cutting head 311 has an embedded heating element. The heating element needs to be heated by current through the cable 600 so that the cutting head 311 can be heated to a certain temperature to perform hot melt cutting on thermoplastic or foam materials. During the cutting process, the cable 600 not only carries the transmission of heating power, but may also integrate a thermocouple feedback signal line to monitor the temperature of the cutting head 311 in real time to achieve temperature control.

[0044] For passive tools, the transmission structure on the handle 312 can be omitted. It's easy to understand that the main difference between active and passive tools lies in whether they are driven to rotate actively; however, there is no substantial difference in tool selection, and users can flexibly choose the appropriate tool type based on the machining task.

[0045] The moving component 500 is connected to at least one of the machining head 300 and the machining platform 220 for driving the machining head 300 and the machining platform 220 to move along at least one of the X-axis, Y-axis and Z-axis, so as to change the machining position of the machining head 300 relative to the workpiece to be processed.

[0046] In one embodiment, the processing head 300 can move along the X-axis, Y-axis, and Z-axis respectively, while the processing platform 220 remains stationary. In this embodiment, the motion component 500 is connected to the processing head 300 via a transmission mechanism, including an X-axis motion mechanism 510, a Y-axis motion mechanism 520, and a lifting mechanism 530. The X-axis motion mechanism 510 drives the processing head 300 to move along the X-axis, the Y-axis motion mechanism 520 drives the processing head 300 to move along the Y-axis, and the lifting mechanism 530 drives the processing head 300 to move along the Z-axis. The X-axis motion mechanism 510 and the Y-axis motion mechanism 520 can adopt a CoreXY motion architecture, while the lifting mechanism 530 can achieve the lifting and lowering of the cutting head 310 relative to the mounting base 230 through a lead screw and nut, a gear rack, or a synchronous belt.

[0047] In one embodiment, the processing head 300 can move along both the X-axis and Y-axis, and the processing platform 220 can move along the Z-axis. In this embodiment, the X-axis motion mechanism 510 and the Y-axis motion mechanism 520 are used to drive the processing head 300 to move along the X-axis and Y-axis, respectively, and the lifting mechanism 530 is used to drive the processing platform 220 to move along the Z-axis. The X-axis motion mechanism 510, the Y-axis motion mechanism 520, and the lifting mechanism 530 can be referred to in the above embodiment, and will not be described again here.

[0048] In one embodiment, the processing head 300 can move along both the X and Z axes, while the processing platform 220 remains stationary. The workpiece to be processed, or a pad placed on the processing platform 220 to support the workpiece, can move along the Y axis. In this embodiment, the X-axis motion mechanism 510 and the lifting mechanism 530 are used to drive the processing head 300 to move along the X and Z axes, respectively. The specific motion patterns can be found in the above embodiments and will not be repeated here. In the Y-axis direction, the processing equipment includes a Y-axis motion mechanism 520. The Y-axis motion mechanism 520 drives the workpiece to be processed or the pad supporting the workpiece to move along the Y-axis by feeding. The Y-axis motion mechanism 520 can feed by rotation. For example, the Y-axis motion mechanism 520 includes a conveyor roller and a motor that drives the conveyor roller to rotate. One or a pair of conveyor rollers can be provided. The motor drives the conveyor roller to rotate, thereby causing the conveyor roller to move the workpiece to be processed along the Y-axis.

[0049] Of course, the moving component 500 can also realize the relative movement between the machining head 300 and the workpiece to be processed through other motion forms. For example, in the Z-axis direction, the machining head 300 and the machining platform 220 can be controlled to move along the Z-axis respectively. There are many other motion forms, which will not be listed here.

[0050] In one embodiment, one end of the cable 600 is electrically connected to the components inside the cutting head 310, for transmitting driving power and control signals to the cutting head 310, and simultaneously receiving feedback signals from the cutting head 310, such as temperature and vibration amplitude; the other end of the cable 600 extends outward along the equipment cable chain and is connected to an external power supply and controller. The cable 600 can be shared for different types of cutting heads 310, or it can be set separately.

[0051] In one embodiment, the cable 600 corresponding to the ultrasonic scalpel integrates multiple ultrasonic power transmission lines, temperature feedback signal lines, and vibration detection signal lines. It is wrapped with a wear-resistant flexible sheath to transmit working power to the ultrasonic control components and to send back key feedback signals such as vibration amplitude and transducer temperature to the controller.

[0052] It should be noted that since the cable 600 is connected to the cutting head 310, it will rotate synchronously with the rotation of the cutting head 310. When the cutting head 310 rotates continuously in one direction, the cable 600 will generate a cumulative torsion effect. Excessive torsion will cause serious problems such as cable 600 tangling, core wire breakage, poor contact, or even jamming and shutdown. This is the technical problem that this application solution aims to solve.

[0053] The communication component is located inside the host 200 and is used to interact with a host computer or other terminal devices to receive processing files, process parameters, and control commands. In one embodiment, the communication component includes a wired communication interface and a wireless communication module. The wired communication interface includes a USB interface, an Ethernet interface, or an RS485 serial interface, and the wireless communication module includes a Wi-Fi module, a Bluetooth module, or a ZigBee module, etc. It can receive the pattern data to be processed from a computer, mobile terminal, or cloud server via wired or wireless means, and transmit the received processing files to the controller for processing.

[0054] The controller is electrically connected to the rotating mechanism 400, the moving component 500, and the cable 600, and is used to control the machining head 300 to process the workpiece according to the processing document. If, during the processing operation on the target path segment, the machining head 300 accumulates a rotation angle exceeding a preset range, the controller controls the machining head 300 to perform a reset operation. This accumulated rotation angle is predicted by the controller before the machining head 300 performs the processing operation on the target path segment, based on the contour trajectory corresponding to the target path segment, the current angle of the machining head 300, and a preset initial angle.

[0055] Understandably, when the device is in printing mode, the controller can switch to the corresponding printing control logic to drive the print head 320 to perform inkjet or coating operations according to the planned path, thereby achieving multiple uses in one machine.

[0056] In one embodiment, based on the above structure, the device in this embodiment can implement at least the following three operating modes: In cutting mode, the cutting head 310 is first installed on the cutting head fixing module 231 of the main body 210. If the cutting head 310 is an active blade, the passive teeth 3121 on the cutting head 310 mesh with the rotating mechanism 400. The controller controls the rotation of the rotating mechanism 400, thereby driving the cutting head 310 to rotate around its axis to adjust the cutting direction, ensuring that it always conforms to the tangential direction of the contour for cutting. At this time, the print head 320 does not need to perform printing operations; the device focuses on performing the cutting operation.

[0057] In printing mode, the printhead 320 is mounted on the printhead 320 fixing module of the main body 210, and the printhead 320 is connected to the ink supply system piping. The controller switches to printing control logic, driving the printhead 320 to perform inkjet printing or coating operations according to the planned path. At this time, the cutting head 310 can be left uninstalled, leaving the cutting head fixing module 231 idle, or it can be installed but not used, allowing the device to focus on performing printing operations.

[0058] The print-then-cut mode involves performing the printing job first, followed by the cutting job. Specifically, the print head 320 is mounted on the print head 320 fixing module, and the cutting head 310 is mounted on the cutting head fixing module 231. The controller then drives the print head 320 to print the pattern on the workpiece surface according to a preset printing path. After printing, the controller switches to the cutting control logic and, according to the planned cutting path, controls the cutting head 310 to adjust the cutting orientation in real time and perform the cutting operation along the cutting path. In this mode, the printing and cutting jobs are completed sequentially on the same processing platform 220 without moving the workpiece, effectively ensuring the alignment accuracy between the printed pattern and the cutting contour.

[0059] In this embodiment, both the print head 320 and the cutter head 310 are connected to the mounting base 230 and share at least a portion of the moving component 500. In other embodiments, the print head 320 and the cutter head 310 may also be set separately and configured to move independently of each other.

[0060] The integrated cutting and printing device in this embodiment integrates the cutting head 310 and the printing head 320 into the same main body 210, sharing core hardware resources such as the processing platform 220, moving components 500, and controller. This enables different types of processing with a small footprint and low cost. Furthermore, during processing, the controller can obtain the current rotation angle of the rotating mechanism 400 and / or the processing head 300, as well as the outline of the pattern to be processed, to determine the target angle. It then controls the rotating mechanism 400 to drive the processing head 300 to rotate, ensuring that the cutting edge of the cutter head 311 always conforms to the tangential direction of the outline. Simultaneously, the controller can monitor the accumulated rotation angle in real time. When it predicts that the cable 600 may exceed its torsion limit during the execution of the target path segment, it controls the corresponding mechanism to perform an anti-tangle action, thereby effectively protecting the cable 600 from excessive torsion damage while ensuring processing accuracy.

[0061] The processing method provided in this application will be described in detail below with reference to specific embodiments.

[0062] Figure 3 A flowchart illustrating a processing method provided in one embodiment of this application is shown schematically. The implementation process of the technical solution of this application will be described below using a processing device as the execution subject. Figure 3 As shown, the processing method provided in this embodiment includes steps 301 to 304, as detailed below: Step 301: Obtain the processing file and determine the target path segment for the processing operation to be performed based on the processing file.

[0063] Specifically, a path segment is an execution unit in the processing of a machining device. It is usually obtained by dividing the continuous closed or open contour corresponding to the pattern to be processed into straight line segments or arc segments according to geometric features. It can be understood that each path segment has a clear start point, end point, and tangent direction, and the target path segment is the path segment that the machining head of the machining device is about to execute.

[0064] A machining file is a digital document that carries complete machining task information. Its data format can be standardized CNC code, G-code, or a proprietary binary instruction stream. Optionally, the machining file is generally generated by computer-aided manufacturing programming software in the terminal device or host computer based on the contour of the pattern to be machined and the process requirements. It contains information such as the machining coordinate system, contour geometric parameters, path segment information, process parameters, and motion control instructions.

[0065] In one embodiment of this application, the process of generating the processing document may be: the operator first... Figure 4As shown, the pattern to be processed is set in the terminal device or host computer. This can be done by directly importing externally designed vector graphics files or by drawing the target cutting graphic within the software. Simultaneously, basic process parameters such as the origin of the processing coordinate system, the material and thickness of the substrate to be processed, the cutting depth, and the feed rate are set, clarifying the processing reference and process constraints of the processing head. After the pattern setting is completed, the equipment automatically identifies and extracts the complete contour information of the pattern to be processed, distinguishing between closed and open contours, and inner and outer contours. It extracts the geometric coordinate points, curve curvature, tangent direction, and other geometric attributes of the contour segment by segment, forming continuous contour vector data. Based on this, according to the preset processing parameters... The continuous contour is discretized based on the precision threshold and the motion control characteristics of the equipment. The smooth curve contour is divided into two basic path units: straight line segments and circular arc segments of suitable length and controllable error. At the same time, the execution order of all path segments is arranged. Each path segment retains the coordinates of the start and end points and the corresponding tangent direction information to support the angle calculation of the subsequent processing head. Finally, all the discretized path segment data, process parameters, initial angle parameters of the processing head, processing start and stop commands and equipment limit parameters are integrated and encoded into a standard processing file format that can be recognized and parsed by the processing equipment controller, resulting in a processing file containing motion commands and matching processing parameters.

[0066] Step 302: Based on the contour trajectory corresponding to the target path segment and the current angle of the processing head, predict the cumulative rotation angle that the processing head needs to rotate relative to the preset initial angle during the processing operation on the target path segment.

[0067] Specifically, the contour trajectory refers to the geometric path information of the target path segment on the machining plane, including the starting coordinates, ending coordinates, tangent direction, curvature, and other geometric features of the path. The contour trajectory determines the angle and direction of rotation of the machining head when performing machining operations on the target path segment. The current angle refers to the actual rotation angle of the machining head relative to a certain reference direction (such as the zero-degree direction in the device coordinate system) at the current moment, which can be detected in real time by a high-precision angle encoder and fed back to the controller.

[0068] The preset initial angle is the starting angle of the machining head before it performs machining operations according to the machining file. This angle is usually set to zero degrees or a safe angle value in the neutral zone of cable torsion. Its purpose is to establish a unified rotation angle reference for the entire machining process. Before each machining task begins, the controller drives the rotating mechanism to return the machining head to the preset initial angle, thereby clearing the accumulated torsion state and ensuring that machining tasks start from the same starting state, guaranteeing the consistency and repeatability of the machining process. After the machining task is completed, the controller also returns the machining head to the preset initial angle to release the torsional stress of the cable and prepare for the next task.

[0069] The cumulative rotation angle refers to the cumulative angle reached at any point during the rotation of the processing head along the contour trajectory of the target path segment, starting from a preset initial angle. This angle is not the angle increment from the start to the end of a single path segment, but rather the angle increment relative to the preset initial angle throughout the process. It can reflect whether the rotation angle of the processing head has reached its limit, thereby preventing the cables connected to the processing head from being damaged due to excessive cumulative twisting during continuous processing.

[0070] Step 303: When the cumulative rotation angle is within the preset range, control the machining head to process the target path segment according to the contour trajectory; Specifically, the preset range is a safe allowable range for the cumulative rotation angle of the processing head. Its upper and lower limits can be determined by the physical torsional limit of the cable, the rotation limit of the processing head, and the engineering safety margin. For example, the preset range is usually centered on a preset initial angle (such as 0°) and extends symmetrically or asymmetrically in both directions, such as [-400°, +400°] or [-360°, +360°]. When the predicted cumulative rotation angle falls within the preset range, it indicates that the cable is still in a safe torsional state or the processing head has not yet reached its rotation limit, and the processing operation of that path segment can be directly executed.

[0071] In one embodiment of this application, controlling the machining head to process a target path segment based on the contour trajectory includes: First, the controller calculates the tangent direction at each position of the path segment based on the contour trajectory of the target path segment, and calculates the target azimuth angle of the machining head when performing the machining of this segment; then, the controller compares the target azimuth angle with the current angle of the machining head, calculates the angle deviation between the two, and further converts it into the angle that the machining head needs to rotate in the current machining cycle; next, the controller controls the rotation mechanism to drive the machining head to rotate to the target azimuth angle according to the angle, and then the motion component controls the machining head and the workpiece to be processed to achieve relative movement in at least one of the X-axis, Y-axis and Z-axis according to the preset machining parameters, so as to perform stable machining operations. At the same time, if the machining head is an ultrasonic scalpel, the controller also needs to continuously output an ultrasonic drive signal during the process, so that the ultrasonic transducer inside the ultrasonic scalpel handle maintains high-frequency vibration to drive the ultrasonic scalpel head to perform vibration cutting operation on the workpiece; after the target path segment is processed, the controller continues to process the next path segment.

[0072] It should be noted that during the entire machining process, the angle encoder can also feed back the actual rotation angle of the machining head to the controller in real time, ensuring that the cutting edge of the tool always conforms to the tangential direction of the contour trajectory. At the same time, the controller continuously monitors the current angle change of the machining head and updates the cumulative net rotation angle in real time, providing a data basis for the anti-entanglement judgment of subsequent path segments.

[0073] Step 304: When there is a cumulative rotation angle exceeding the preset range, control the machining head to perform a reset operation, and after the reset operation is completed, control the machining head to process the target path segment.

[0074] Specifically, when the predicted cumulative rotation angle exceeds the preset range, it means that if the path segment is executed directly, the cable will be over-twisted or the processing head will reach its rotation limit. A reset operation needs to be performed first to pull the angle back to the preset range before processing can be carried out to avoid processing accidents.

[0075] The reset operation refers to the process of pulling the rotation angle of the processing head back to a safe range to release the accumulated torsional stress on the cable.

[0076] For example, such as Figure 5A As shown, W_min represents the maximum cumulative rotation angle in the first rotation direction corresponding to the processing head, which is the physical hard limit boundary of the processing head in the first rotation direction; W_max represents the maximum cumulative rotation angle in the second rotation direction corresponding to the processing head, which is the physical hard limit boundary of the processing head in the second rotation direction. The first rotation direction and the second rotation direction are opposite, and together they define the theoretical limit of the rotation range of the processing head. [-T_limit,+T_limit] is a preset safe operation range set by the system. This range is nested between W_min and W_max, corresponding to the safe area (preferred operation area) marked in the figure. This preset range is used as the anti-entanglement judgment benchmark. If the cumulative rotation angle W_state_next that occurs during the execution of the target path segment is within the range of [-T_limit,+T_limit], the next processing segment is executed directly. If the cumulative rotation angle W_state_next approaches or exceeds the preset range, the anti-entanglement reset action is triggered, and processing continues after the reset is completed.

[0077] It is worth mentioning that the negative sign in -T_limit and the positive sign in +T_limit represent the rotation direction of the machining head relative to the preset initial angle. For example, if the negative sign in -T_limit represents the machining head rotating counterclockwise relative to the preset initial angle, then the positive sign in +T_limit represents the machining head rotating clockwise relative to the preset initial angle.

[0078] It is important to emphasize that for a single target path segment, the cumulative rotation angle is not necessarily the angle corresponding to the end of the target path segment, but rather multiple angles throughout the entire process from the starting point to the end point of the target path segment. It can also be simply understood that if any one of the cumulative rotation angles corresponding to a path point on the target path segment exceeds the preset range, the processing head needs to perform a reset operation.

[0079] Figure 5BThe schematic illustration shows a preset interval determination interface according to an embodiment of this application, such as... Figure 5B As shown, operators can set or view the maximum rotation angle of the W-axis, the rotation speed of the W-axis, and the initial angle offset value of the W-axis through this interface. The W-axis corresponds to the rotating mechanism rigidly connected to the processing head in this application. This mechanism moves simultaneously with the processing head. The maximum rotation angle of the W-axis is the maximum cumulative rotation angle of the processing head, and the initial angle offset value of the W-axis corresponds to the preset initial angle in this application. Based on the example parameter values ​​in the figure, when the initial angle offset value of the W-axis is set to 0° and the maximum rotation angle of the W-axis is set to 400°, the preset range for determining the risk of entanglement can be determined as the range [-400°, +400°]. Thus, the subsequent equipment will use this range as a judgment benchmark to pre-determine whether the cumulative rotation angle exceeds the safe range before processing each path segment, thereby deciding whether to perform normal processing or trigger an anti-entanglement reset action.

[0080] It should be noted that the values ​​of [-400°, +400°] are only illustrative examples of the preset range. In actual applications, operators can flexibly adjust this value according to the cable specifications, mechanical limits, and specific requirements of the processing task. For example, in scenarios requiring higher safety assurance, it can be set to a smaller safety threshold, or the upper limit can be appropriately increased if the equipment allows and the task requires continuity. No restrictions are imposed here.

[0081] To better understand the solution, an example is provided below. For instance, assuming T_limit = 400°, after the machining head completes its machining operation on the first path A, its cumulative rotation angle is 100°. Before the machining head performs its machining operation on the next path B, if angle prediction for path B indicates that the machining head will not accumulate a rotation angle greater than 400° during the machining operation on path B, then the machining head will continue machining on path B with a cumulative rotation angle of 100°. If angle prediction for path B indicates that the machining head's cumulative rotation angle at a certain point on path B exceeds 400° during the machining operation on path B, then the machining head will be controlled to perform a reset operation, causing it to reverse and begin machining on path B with an angle less than 100°. This process continues until all path segments are machined.

[0082] In this embodiment, when the cumulative rotation angle is within the preset range, it indicates that the cumulative torsion of the cable is still within a safe range, and the cable is not at risk of tangling or over-twisting. In this case, the processing equipment can directly drive the rotating mechanism to drive the processing head to execute the target path segment according to the calculated rotation angle. The processing can proceed continuously without interruption. Conversely, if the predicted cumulative rotation angle is not within the preset range, it indicates that if the target path segment is executed directly, the cumulative torsion will approach or even exceed the safety limit, causing the cable to tangle or be damaged. In this case, the equipment does not immediately execute the path segment, but first controls the rotating mechanism and the processing head to perform a reset operation. Only after the reset operation is completed and the cumulative rotation angle has returned to the safe range will the rotating mechanism be controlled again to drive the processing head to execute the target path segment. This ensures that the execution of each path segment will not exceed the maximum rotation angle of the rotating mechanism, thereby ensuring processing safety and equipment life.

[0083] In one embodiment of this application, the processing equipment further includes a processing platform, and controlling the processing head to perform a reset operation includes: controlling at least one of the processing head and the processing platform to move along the Z-axis of the processing equipment to increase the distance between the processing head and the processing platform; controlling the processing head to rotate to reduce the current angle of the processing head so that the cumulative rotation angle required for the rotated processing head to rotate relative to the preset initial angle during the processing operation on the target path segment is within a preset range.

[0084] Specifically, increasing the distance between the machining head and the machining platform allows the machining head to be completely detached from the workpiece surface, preventing damage to the workpiece during the reset operation. Controlling the machining head to rotate in the opposite direction to reduce its current angle releases the torsional stress of the cable. Thus, without changing the hardware structure, the rotation angle of the machining head is always constrained within the safe preset range allowed by the physical torsional limit of the cable and the rotation limit of the machining head.

[0085] For example, controlling at least one of the machining head and the machining platform to move along the Z-axis of the machining equipment to increase the distance between the machining head and the machining platform includes any of the following methods: The controller sends a lifting command to the moving component, which drives the machining head to slide upwards along the Z-axis, while the machining platform remains stationary. This increases the distance between the machining head and the workpiece on the machining platform, preventing damage to the workpiece during the reset operation. In this method, the position of the workpiece on the machining platform remains unchanged, and there is no need to realign it when resuming processing after the reset. Furthermore, the lifting action only involves one side of the machining head, resulting in low moment of inertia and fast response speed.

[0086] The controller sends a descent command to the lifting mechanism connected to the machining platform, causing the entire machining platform to move downwards and away from the machining head, while the machining head remains at its current height.

[0087] The controller simultaneously sends movement commands to the moving components and the lifting mechanism of the machining platform, causing the machining head to rise while the machining platform moves downward. This method can achieve the required clearance distance with a shorter stroke and faster speed, shortening the overall time of the reset operation and improving machining efficiency. It is especially suitable for scenarios where the machining head's Z-axis stroke is limited but a larger tool lifting height is required.

[0088] For example, controlling the rotation of the processing head to reduce the current angle of the processing head, so that the cumulative rotation angle required for the rotating processing head to perform processing operations on the target path segment is within a preset range relative to the preset initial angle, may include: the controller first determines the rotation direction and rotation angle based on the relationship between the current cumulative rotation angle and the preset range boundary value, and then drives the rotation mechanism to rotate the processing head in the opposite direction to release the torsional stress of the cable and restore the angle state of the processing head to a safe starting position.

[0089] It should be noted that "reverse rotation" means that the direction of rotation of the processing head is opposite to the current cumulative deflection direction. For example, if the processing head has accumulated a large angle of clockwise rotation in the current processing sequence, the controller drives the rotation mechanism to rotate the processing head counterclockwise to counteract the accumulated clockwise torsion. In other words, the essence of the rotation action is to swing back from the current angle, rather than continuing to rotate in the original direction. Its purpose is to shorten the cable torsion length, release accumulated stress, and ensure that the execution of subsequent processing path segments can be completed under conditions where the cable torsion safety margin is sufficient.

[0090] For example, the rotation angle can be determined in one of the following ways: A fixed rotation angle is pre-stored (e.g., 180°, 240°, 360°, or 400° each time). When a reset operation is triggered, the controller directly drives the machining head to rotate in the opposite direction by this fixed angle value. Regardless of the current accumulated angle value, the rotation amount remains constant. For example, if the preset rotation angle is 360° and the current accumulated rotation angle is +650°, the controller controls the machining head to rotate 360° counterclockwise, reducing the accumulated rotation angle to +290°, and then continues processing the subsequent path segment. This fixed rotation angle ensures that the machining head, after rotation, will not exceed T_limit when executing the next path segment.

[0091] The controller dynamically calculates the required rotation angle based on a preset range and the predicted maximum cumulative rotation angle that the next path segment may reach. Specifically, when the controller predicts that the cumulative rotation angle will exceed the preset range during the execution of the next path segment, it calculates the difference between the current cumulative rotation angle and the preset range, and uses this difference as the reference value for the rotation angle to ensure that the machining head can safely complete at least this path segment in subsequent processing after rotation. For example, assuming the preset range is [-720°, +720°], the current cumulative angle is +600°, and the angle increment required to execute the next path segment is +150°, then the predicted cumulative angle after execution will reach +750°, exceeding the upper limit of the preset range of +720° by a total of 30°. Based on this, the controller determines that the rotation angle is at least 30° (i.e., 30° counterclockwise), so that the cumulative angle after rotation is reduced to +570°. At this point, after executing the path segment again, the cumulative angle is +720°, which is exactly equal to the upper limit of the preset range. In this way, the safety constraint of not exceeding the preset range is satisfied, and the extra time consumption caused by excessive rotation is avoided.

[0092] Understandably, in practical applications, to ensure sufficient safety margin, the controller can also add a reserved compensation angle based on the calculated difference, such as an additional 30°-60° rotation, thereby reducing the risk of unexpected over-limit due to angle encoder error or path calculation deviation.

[0093] In one embodiment of this application, the processing head includes an ultrasonic scalpel, which is electrically connected to the controller of the processing equipment via a cable, thereby controlling the processing head to perform a reset operation, and further includes controlling the ultrasonic transducer of the ultrasonic scalpel to stop transducing.

[0094] Specifically, the ultrasonic transducer is encapsulated inside the handle of the ultrasonic scalpel. It utilizes the piezoelectric effect to convert the high-frequency electrical signal transmitted from the controller via cable into mechanical vibration energy of the same frequency. This energy then drives the mechanically connected ultrasonic scalpel head to generate high-frequency micro-amplitude vibrations to perform the cutting operation. It should be noted that since the operation of the ultrasonic transducer relies on the continuous transmission of high-frequency electrical energy and feedback signals via the cable, the torsion state of the cable directly affects the reliability of power supply and signal transmission. In other words, excessive cable torsion can lead to power transmission attenuation, signal distortion, or even cable breakage, thus affecting the normal excitation of the transducer. Therefore, in ultrasonic scalpel processing scenarios, the reset operation also includes controlling the ultrasonic transducer of the ultrasonic scalpel to stop transduction.

[0095] For example, when the processing head is an ultrasonic scalpel, the complete reset operation includes: first, the controller sends a reset command to the moving component, controlling at least one of the ultrasonic scalpel or the processing platform to move along the Z-axis, so that the scalpel head is completely separated from the workpiece surface, and the output of the ultrasonic drive signal is cut off, so that the ultrasonic transducer stops high-frequency vibration and energy conversion; after the ultrasonic scalpel is raised to the position and the ultrasonic output is completely turned off, the controller sends a reverse rotation command to the rotating mechanism according to the deviation between the current angle and the preset initial angle, driving the rotating mechanism to rotate the ultrasonic scalpel around the vertical axis in the opposite direction to the preset initial angle or the neutral safety zone, so as to release the torsional stress accumulated in the cable and restore the angle state of the processing head to the preset range.

[0096] It is easy to understand that the action of stopping the ultrasonic transducer of the ultrasonic scalpel from transducing can be performed before, after, or simultaneously with the action of increasing the distance between the ultrasonic scalpel and the processing platform; there is no single limitation here.

[0097] In one embodiment of this application, after the reset operation is completed, controlling the machining head to process the target path segment includes: controlling at least one of the machining head and the machining platform to move so that the machining head is located at the starting point of the target path segment; and controlling the machining head to process the target path segment according to the contour trajectory corresponding to the target path segment.

[0098] Specifically, after the reset operation is completed, the controller needs to move the machining head from its current position to the starting point of the target path segment to ensure the accuracy and continuity of the motion trajectory when executing the path segment subsequently. The starting point of the target path segment refers to the initial position coordinates of the path segment in the machining coordinate system, which can be defined by the geometric data of the path segment in the machining file.

[0099] In one embodiment of this application, controlling the movement of at least one of the machining head and the machining platform to position the machining head at the starting point of the target path segment includes at least: controlling the movement of at least one of the machining head and the machining platform along the Z-axis of the machining equipment to reduce the distance between the machining head and the machining platform.

[0100] For example, after the reset operation is completed, the operation of controlling the machining head to process the target path segment can be as follows: First, the controller sends a control command to the moving component according to the position information of the target path segment. At the same time, the machining head moves horizontally relative to the workpiece to be processed to the starting point of the target path segment, and the machining head moves downward along the Z-axis and / or the machining platform moves upward along the Z-axis, so that the distance between the machining head and the machining platform gradually decreases. Thus, the endpoint of the horizontal empty movement is coincided with the vertical tool landing point, so that the tool head falls into place and contacts the workpiece surface at the same time as the machining head reaches the starting point of the target path segment.

[0101] When the machining head is an ultrasonic scalpel, the controller also needs to re-output the ultrasonic drive signal after the machining head reaches the starting point of the target path segment and the scalpel is in place, control the ultrasonic transducer to resume high-frequency vibration, and drive the scalpel head into the cutting state; then, the controller calculates the target azimuth angle according to the contour trajectory of the target path segment, drives the rotating mechanism to rotate the machining head to the corresponding angle, and at the same time drives the moving components to perform feed motion according to the contour trajectory path, so that the scalpel head can cut the workpiece until the entire machining of the target path segment is completed.

[0102] For example, Figure 6 An illustrative comparison diagram of the execution timing of a path segment according to an embodiment of this application is shown, such as... Figure 6 As shown, the graph uses time as the horizontal axis and corresponds from top to bottom to the trajectories of the X / Y axis moving components in the processing equipment, that is, the trajectory of at least one of the X-axis and Y-axis moving mechanisms, the current height of the Z-axis moving component, the change of the ultrasonic scalpel rotation angle, and the state change curve of the ultrasonic output. It clearly presents the difference in the timing of the actions of each actuator under the two working conditions of no limit and limit trigger when the processing head is an ultrasonic scalpel.

[0103] In continuous machining condition A without triggering the limit, the X / Y axis motion components drive the machining head to maintain a continuous trajectory throughout the machining process. The Z axis motion components always maintain the machining height at which the ultrasonic cutter cuts into the workpiece. The rotation angle of the ultrasonic cutter changes smoothly and continuously with the tangent of the machining trajectory. The ultrasonic transducer remains continuously on. The entire process is without tool lifting, interruption, or idle travel, and can achieve continuous and stable cutting from the start to the end of the target path segment. The accumulated rotation angle gradually increases within the preset range but never exceeds the boundary.

[0104] When the controller predicts the cumulative rotation angle after executing the target path segment based on the rotation angle corresponding to that segment, and determines that the predicted value will exceed the preset range, the processing process enters processing condition B. At the trigger moment, the controller immediately interrupts the normal cutting process of the target path segment. First, it controls the Z-axis motion component to perform a lifting action, causing the ultrasonic cutter to detach from the surface of the workpiece until the distance between them reaches the first preset distance. At the same time, the processing output is simultaneously shut down (e.g., ultrasonic oscillation is turned off). Then, the processing head is driven to rotate back to the preset initial angle, and the accumulated rotation angle is reset to the preset adjustment amount. During this process, the X / Y-axis motion component completes the idle movement while the ultrasonic cutter is in the lifted and suspended state, moving the ultrasonic cutter to the starting position of the target path segment. After the ultrasonic cutter moves to the starting point of the target path segment, the Z-axis motion component is controlled to perform a lowering action, causing the ultrasonic cutter to fall to the surface of the workpiece. At the same time, the transduction output of the ultrasonic transducer in the ultrasonic cutter is restored. At this time, the reset operation is completed. The equipment re-determines the rotation angle required to execute the target path segment based on the target angle corresponding to the target path segment and the current preset angle of the rotating mechanism. Based on the re-determined rotation angle, the rotating mechanism is controlled to drive the ultrasonic cutter to execute the target path segment and continue to complete the subsequent processing steps.

[0105] This embodiment maintains continuous processing when the accumulated rotation angle is within a preset range, avoiding unnecessary tool lifting and idle travel, thus maximizing processing efficiency. Furthermore, it proactively triggers a reset when the accumulated rotation angle approaches its limit and resumes processing after the reset, effectively preventing cable entanglement and over-twisting risks. Through a closed-loop control of "normal execution - condition determination - reset - resumption of processing," this solution achieves a dynamic balance between safety and efficiency. Compared to the traditional fixed-cycle zeroing method, it significantly reduces invalid processing interruptions. Moreover, this solution is implemented using software algorithms, requiring no hardware modifications and exhibiting good engineering applicability.

[0106] In one embodiment of this application, determining the target path segment of the processing operation to be performed based on the processing file includes: obtaining the preset execution order of each path segment in the processing file; determining the execution cost of each path segment, and adjusting the preset execution order according to the execution cost to obtain the target execution order; and determining the path segment of the current processing operation to be performed as the target path segment from multiple path segments according to the target execution order.

[0107] Specifically, the preset execution order is the default processing sequence determined for each path segment or contour during the processing file generation stage. In a conventional processing flow, this order is usually set according to the arrangement, numbering, or geometric continuity of the contours (such as processing each contour in a clockwise direction, or advancing each contour from the start point to the end point). Its purpose is to transform the pattern to be processed into an ordered sequence of processing instructions for segment-by-segment execution.

[0108] Execution cost is a quantitative indicator used to evaluate whether to select a certain path segment as the next processing object. It is used to characterize the overall cost or operational complexity required to execute the path segment.

[0109] The target execution order refers to the order in which the processing equipment actually executes each path segment in the processing file. For example, the target execution order can be the natural order of the path segments in the processing file according to their geometric contours, i.e., the preset execution order; or it can be the execution order generated by reordering through a cost function after comprehensively weighing multiple factors such as the cost of angle changes, reset risks, idle travel distance, and process continuity. There is no limitation here.

[0110] In one embodiment of this application, the execution cost is determined according to at least one of the following: determining a first cost of the path segment based on the contour trajectory corresponding to the path segment; predicting the predicted cumulative rotation angle required for the processing head to rotate relative to a preset initial angle during the processing operation based on the path segment according to a preset execution order; determining a second cost of the path segment based on the predicted cumulative rotation angle; using the distance between the current position of the processing head and the starting point of the path segment as a third cost of the path segment; obtaining the contour similarity between the path segment and other path segments respectively, and determining a fourth cost corresponding to the path segment based on the contour similarity.

[0111] Specifically, the first cost is used to quantify the degree of influence of the target path segment on the rotation angle of the processing head. The larger the first cost, the greater the influence of the target path segment on the rotation angle of the processing head, the more intense the cable torque, and the easier it is to quickly increase the accumulated rotation angle, thereby triggering a reset operation. For example, the first cost can be represented by the absolute value of the azimuth angle corresponding to the contour trajectory of the target path segment.

[0112] The second cost is used to quantify the difference between the cumulative rotation angle of the processing head and the preset range during the execution of the target path segment. Its function is to identify "high-risk" path segments in advance. That is, when the absolute value of the rotation angle of a single segment is not large, but executing the segment will cause the cumulative rotation angle to approach or even exceed the preset range, the system will also assign it a higher cost weight, so that it will be avoided first during path selection. For example, the second cost can be determined by predicting the predicted cumulative rotation angle of the processing head during the execution of the target path segment according to the preset execution order. If the predicted cumulative rotation angle of the target path segment is within the preset range, the second cost is determined to be the first preset value; if the predicted cumulative rotation angle of the target path segment is not within the preset range, the second cost is determined to be the second preset value, wherein the first preset value is less than the second preset value.

[0113] The third cost is used to measure the amount of idle travel required to execute the target path segment. Specifically, it can be the spatial distance between the current position of the machining head and the starting point of the target path segment. The shorter the distance, the smaller the idle travel, and the lower the third cost of that path segment. The longer the distance, the more the machining head needs to move in mid-air to reach the starting point of the path segment, without generating any effective cutting during this time, thus resulting in a higher cost. Introducing the third cost can prevent the equipment from selecting path segments that are too far from the current position of the machining head in pursuit of the optimal rotation angle, leading to a large amount of wasted idle travel time, thereby seeking a balance between angle adjustment optimization and motion efficiency.

[0114] The fourth cost is used to quantify the high similarity between the target path segment and other path segments in terms of geometry, orientation, or curvature. High similarity indicates that they belong to the same processing area or the same type of contour feature. Continuously executing these similar path segments helps maintain the continuity and stability of the processing technology, thus the fourth cost is low. Conversely, low similarity indicates that the path segment belongs to a cross-regional or heterogeneous contour. Continuous processing may require adjustments to process parameters or introduce additional adaptation time, resulting in a correspondingly higher cost. Therefore, the introduction of the fourth cost can balance process continuity during processing, avoiding the impact on cutting quality and processing stability caused by frequent cross-regional, cross-material, or heterogeneous contour alternation.

[0115] It should be noted that the execution cost of the target path segment can be any one of the above costs, or it can be the weighted sum of at least two of the above costs. Operators can set it according to actual processing needs, and this application does not impose any restrictions.

[0116] In one embodiment of this application, the solution further includes controlling the machining head to return to a preset initial angle before starting the machining operation corresponding to the machining file; and / or controlling the machining head to return to the preset initial angle after completing the machining operation corresponding to the machining file.

[0117] Specifically, by automatically restoring to the preset initial angle before the start of a processing task, a unified angle reference can be achieved at the start of each processing task, eliminating any torsional deviations that may have been left over from the previous task. This ensures that each processing task starts from the same safe angle state, guaranteeing the consistency and repeatability of multiple batches of processing. Furthermore, by actively returning to the original position after the task is completed, the torsional stress accumulated in the cable during the entire processing process can be released, preventing the cable from being in a torsional state for a long time, which could lead to plastic deformation or fatigue damage, and effectively extending the cable's service life.

[0118] For example, controlling the machining head to return to a preset initial angle before starting the machining operation corresponding to the machining file, and controlling the machining head to return to a preset initial angle after completing the machining operation corresponding to the machining file, both constitute zero-return operations. In this application, zero-return operation refers to the process by which the controller returns each moving component of the equipment to a preset reference position or initial state before or after the machining task begins. Essentially, it involves precisely moving the machining head and related motion axes from their current arbitrary position and angle state to the zero point position calibrated by the equipment factory or set by the user, according to a preset sequence and speed parameters. This eliminates accumulated errors, releases cable torsional stress, and allows the equipment to greet the next machining task with a uniform starting posture, avoiding the impact of positional offsets or angular deviations left over from the previous machining on the subsequent machining quality.

[0119] Specifically, the zero-return operation may include at least one of the following steps: controlling the motion component to move along the Z-axis, driving the machining head to a preset safe height, so that the tool head is completely separated from the workpiece surface, avoiding accidental collision or scratching between the tool head and the workpiece during the zero-return process.

[0120] The controller moves the motion components along the X-axis and / or Y-axis to move the machining head to a preset zero-point position in the XY plane. This zero-point position is usually located at a fixed corner or center point of the machining platform and is predetermined during the equipment calibration phase. During the horizontal homing process, the controller can first control the machining head to move to the X-axis zero point, and then control it to move to the Y-axis zero point. Alternatively, the X-axis and Y-axis can be linked to reach the zero-point position simultaneously, depending on the equipment's mechanical structure and control strategy.

[0121] The control rotation mechanism drives the machining head to rotate, restoring the current angle of the machining head to the preset initial angle.

[0122] In addition, when the machining head is an ultrasonic scalpel, the zero-return operation also includes controlling the ultrasonic transducer of the machining head to stop transducing; when the machining head is an electrothermal scalpel, the zero-return operation also includes turning off the heating power supply; when the machining head is an electric circular scalpel, the zero-return operation also includes turning off the spindle drive power supply, so that the machining head is completely in standby mode.

[0123] Figure 7 A flowchart illustrating the processing method provided in an embodiment of this application is shown schematically. Figure 7 As shown, taking an ultrasonic scalpel as the processing head in the processing equipment as an example, the processing method includes steps 701 to 706, as follows: Step 701: Initialize the ultrasonic scalpel status and limit parameters, and receive the machining file. For example, when the machining task starts, the device can first perform a zero-return operation, that is, set the current angle of the ultrasonic scalpel to the initial angle value (e.g., 0°), clear the accumulated rotation angle to zero, and control the Z-axis motion component to raise the machining head to a safe height, while the horizontal motion component (X / Y-axis motion mechanism) moves to the designated tool change or standby position. Next, it reads the preset interval, initial angle offset value, and other limit parameters, while simultaneously receiving and parsing the machining file, extracting the geometric information and target angle data of each path segment, as well as process parameters such as feed rate and ultrasonic power for subsequent machining.

[0124] Step 702: Calculate the target azimuth angle of the target path segment to obtain the target angle and direction corresponding to the path segment. Here, "target azimuth angle" refers to the "target angle of the processing head" in this application. For example, the device can determine the current path segment to be executed according to the target execution order, and calculate the target angle and rotation direction of the processing head based on the geometric tangent direction of the path segment.

[0125] Step 703: Perform a limit feasibility assessment to predict whether the cumulative rotation angle during the execution of the target path segment exceeds the limit. If the cumulative rotation angle is within the preset range, it is determined that it does not exceed the limit; if the cumulative rotation angle exceeds the boundary of the preset range, it is determined that it exceeds the limit.

[0126] Step 704: Execute each path segment according to the predicted cumulative rotation angle. For example, when it is determined that the predicted cumulative rotation angle does not exceed the limit, the device normally executes the target path segment processing, and updates the cumulative rotation angle in real time after processing is completed. Simultaneously, it moves to the next path segment in the target execution sequence and returns to step 702 for execution. When it is determined that the predicted cumulative rotation angle exceeds the limit, a reset action is triggered: First, the lifting mechanism is controlled to raise the processing head and turn off the ultrasonic transducer output. Then, the processing head is driven to rotate in the opposite direction and the cumulative rotation angle is reset to a preset adjustment amount, so that the cumulative rotation angle required for the rotated processing head to rotate relative to the preset initial angle during the processing operation of the target path segment is within a preset range. Next, the X / Y axis motion component is controlled to move the processing head to the starting point of the target path segment while the processing head is suspended. Finally, the lifting mechanism is controlled to lower the processing head and restart the ultrasonic transducer output. After the reset is completed, the rotation angle required to execute the target path segment is re-determined, the processing head is controlled to execute the target path segment, and after execution, the device returns to step 702 for execution.

[0127] In addition, during the execution of a path segment, the system can also dynamically adjust the target execution order based on the execution cost of each path segment (including angle cost, reset cost, idle travel cost and process cost), prioritizing the execution of the path segment with the lowest overall cost, thereby reducing the frequency of reset triggers from the source.

[0128] Step 705: Determine whether all path segments corresponding to the pattern to be processed have been processed. For example, after each path segment is executed, the device checks whether there are any unprocessed path segments in the target execution sequence: if there are remaining path segments, return to step 702 to continue executing the next segment; if all path segments have been executed, proceed to step 706.

[0129] Step 706: If all path segments corresponding to the pattern to be processed are completed, the current processing task ends and the processing head returns to zero. For example, the zero-return operation may specifically include controlling the processing head to return to a preset initial angle (e.g., 0°), clearing the accumulated rotation angle to zero, simultaneously controlling the lifting mechanism to raise the processing head to a safe height, moving the X / Y axis motion mechanism to a designated tool change or standby position, turning off the ultrasonic transducer output, releasing the enable of all motion axes, and recording relevant data for this processing task (e.g., total processing time, number of resets, etc.).

[0130] This embodiment achieves real-time monitoring and proactive management of the cumulative rotation angle of the processing head through a closed-loop process of "initialization—angle prediction—conditional execution / reset—return to position". Within the preset safe range, the device continuously executes each path segment, ensuring uninterrupted processing. When an overshoot is predicted, a proactive reset is triggered, controlling the processing head to return to a safe angle and resetting the cumulative rotation angle, effectively preventing cable damage from excessive twisting. Simultaneously, through a dynamic cost-priority sorting mechanism, path segments with gentle angle changes and low reset risk are prioritized, reducing the reset frequency from the source and ensuring consistent device state at task completion. Thus, this embodiment significantly improves processing safety and task completion rate while maintaining processing efficiency, requiring no hardware modifications and possessing broad applicability.

[0131] It should be noted that although the steps of the method in this application are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0132] The following describes an embodiment of the apparatus of this application, which can be used to perform the processing methods in the above embodiments of this application. Figure 8 A schematic block diagram of the processing apparatus provided in an embodiment of this application is shown. Figure 8 As shown, the processing apparatus provided in this application embodiment includes: The path segment determination module 810 is used to obtain the processing file and determine the target path segment of the processing operation to be performed based on the processing file; The angle prediction module 820 is used to predict the cumulative rotation angle that the machining head needs to rotate relative to a preset initial angle during the machining operation on the target path segment, based on the contour trajectory corresponding to the target path segment and the current angle of the machining head; the preset initial angle is the starting angle of the machining head before it performs the machining operation according to the machining file. The path execution module 830 is used to control the machining head to process the target path segment according to the contour trajectory when the cumulative rotation angle is within the preset range; when there is a cumulative rotation angle that exceeds the preset range, it controls the machining head to perform a reset operation, and after the reset operation is completed, it controls the machining head to process the target path segment.

[0133] In one embodiment of this application, the path segment determination module 810 is specifically used for: Obtain the preset execution order of each path segment in the processing file; Determine the execution cost of each path segment, and adjust the preset execution order according to the execution cost to obtain the target execution order; Based on the target execution order, the path segment for the current processing operation to be performed is determined from multiple path segments as the target path segment.

[0134] In one embodiment of this application, the path segment determination module 810 is specifically used for: Determine the first cost of the path segment based on the contour trajectory corresponding to the path segment; Based on a preset execution sequence, predict the cumulative rotation angle required for the processing head to rotate relative to a preset initial angle during the processing operation based on the path segment; determine the second cost of the path segment based on the predicted cumulative rotation angle. The distance between the current position of the processing head and the starting point of the path segment will be used as the third cost of the path segment; Obtain the contour similarity between each path segment and other path segments, and determine the fourth cost corresponding to each path segment based on the contour similarity.

[0135] In one embodiment of this application, the path execution module 830 is specifically used for: Control at least one of the machining head and machining platform to move along the Z-axis of the machining equipment to increase the distance between the machining head and the machining platform; Control the rotation of the machining head to reduce the current angle of the machining head, so that the cumulative rotation angle required for the machining head to rotate relative to the preset initial angle during the machining operation on the target path segment is within a preset range.

[0136] In one embodiment of this application, the path execution module 830 is specifically used for: The ultrasonic transducer controlling the ultrasonic scalpel stops transducing.

[0137] In one embodiment of this application, the path execution module 830 is specifically used for: Control the movement of at least one of the machining head and the machining platform so that the machining head is located at the starting point of the target path segment; Based on the contour trajectory corresponding to the target path segment, control the processing head to process the target path segment.

[0138] In one embodiment of this application, the path execution module 830 is specifically used for: Control at least one of the machining head and machining platform to move along the Z-axis of the machining equipment to reduce the distance between the machining head and the machining platform.

[0139] In one embodiment of this application, the processing apparatus further includes a zero-return control module, which is specifically used for: Before the machining head begins the machining operation corresponding to the machining file, the machining head is controlled to return to the preset initial angle; and / or, After the machining head completes the machining operation of the corresponding machining file, it is controlled to return to the preset initial angle.

[0140] The specific details of the processing apparatus provided in the various embodiments of this application have been described in detail in the corresponding method embodiments, and will not be repeated here.

[0141] Figure 9 A schematic diagram of the computer system architecture used to implement the technical solution of this application is shown.

[0142] It should be noted that, Figure 9 The computer system 900 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0143] like Figure 9 As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 902 or programs loaded from storage section 908 into random access memory (RAM). The RAM 903 also stores various programs and data required for system operation. The CPU 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output interface 905 (I / O interface) is also connected to the bus 904.

[0144] The following components are connected to the input / output interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), and speakers, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card, such as a local area network card or modem, etc. The communication section 909 performs communication processing via a network such as the Internet. The controller 910 is also connected to the input / output interface 905 as needed. A removable medium 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the controller 910 as needed so that computer programs read from it can be installed into the storage section 908 as needed.

[0145] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0146] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer programs according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0147] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0148] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the methods according to the embodiments of this application.

[0149] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0150] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A processing method, characterized in that, Applied to a processing equipment, the processing equipment including a processing head for performing processing; the method includes: Obtain the processing file, and determine the target path segment for the processing operation to be performed based on the processing file; Based on the contour trajectory corresponding to the target path segment and the current angle of the processing head, predict the cumulative rotation angle that the processing head needs to rotate relative to a preset initial angle during the processing operation on the target path segment; the preset initial angle is the starting angle of the processing head before performing the processing operation according to the processing file. When the cumulative rotation angle is within a preset range, the processing head is controlled to process the target path segment according to the contour trajectory. When the cumulative rotation angle exceeds the preset range, the processing head is controlled to perform a reset operation, and after the reset operation is completed, the processing head is controlled to process the target path segment.

2. The processing method according to claim 1, characterized in that, The processing equipment also includes a processing platform, and the step of controlling the processing head to perform a reset operation includes: Control at least one of the machining head and the machining platform to move along the Z-axis of the machining equipment to increase the distance between the machining head and the machining platform; The machining head is controlled to rotate to reduce its current angle, so that the cumulative rotation angle required for the rotated machining head to perform machining operations on the target path segment relative to the preset initial angle is within the preset range.

3. The processing method according to claim 2, characterized in that, The processing head includes an ultrasonic scalpel, which is electrically connected to the controller of the processing equipment via a cable. The step of controlling the processing head to perform a reset operation further includes: The ultrasonic transducer of the ultrasonic scalpel is controlled to stop transducing.

4. The processing method according to claim 1, characterized in that, The processing equipment also includes a processing platform. After the reset operation is completed, controlling the processing head to process the target path segment includes: Control the movement of at least one of the processing head and the processing platform so that the processing head is located at the starting point of the target path segment; Based on the contour trajectory corresponding to the target path segment, the processing head is controlled to process the target path segment.

5. The processing method according to claim 4, characterized in that, Controlling the movement of at least one of the machining head and the machining platform to position the machining head at the starting point of the target path segment includes at least: Control at least one of the machining head and the machining platform to move along the Z-axis of the machining equipment to reduce the distance between the machining head and the machining platform.

6. The processing method according to claim 1, characterized in that, The step of determining the target path segment for the processing operation to be performed based on the processing file includes: Obtain the preset execution order of each path segment in the processing file; The execution cost of each path segment is determined, and the preset execution order is adjusted according to the execution cost to obtain the target execution order; Based on the target execution order, the path segment for the current processing operation to be performed is determined from the multiple path segments as the target path segment.

7. The processing method according to claim 6, characterized in that, The execution cost is determined based on at least one of the following: The first cost of the path segment is determined based on the contour trajectory corresponding to the path segment. Based on the preset execution order, predict the predicted cumulative rotation angle required for the processing head to rotate relative to the preset initial angle during the processing operation based on the path segment; determine the second cost of the path segment based on the predicted cumulative rotation angle; The distance between the current position of the processing head and the starting point of the path segment is used as the third cost of the path segment; The contour similarity between the path segment and other path segments is obtained respectively, and the fourth cost corresponding to the path segment is determined based on the contour similarity.

8. The processing method according to claim 1, characterized in that, The method further includes: Before the machining head begins the machining operation corresponding to the machining file, the machining head is controlled to return to the preset initial angle; and / or, After the processing head completes the processing operation corresponding to the processing file, the processing head is controlled to return to the preset initial angle.

9. A processing device, characterized in that, include: The host includes a main body of the equipment and a processing platform connected to the main body of the equipment, the processing platform being used to carry the workpiece to be processed; The processing head is connected to the main body of the equipment and is used to process the workpiece to be processed; A rotating mechanism is connected to the processing head via a transmission; the rotating mechanism is used to drive the processing head to rotate. A moving component is connected to the machining head and / or the machining platform for driving the machining head and / or the machining platform to move along at least one of the X-axis, Y-axis, and Z-axis. Cables are used to connect the processing head and the main body of the equipment; A communication component used to receive processing files; The controller is electrically connected to the rotating mechanism, the moving component, and the cable, respectively. The controller is used to control the processing head to process the workpiece according to the processing file; wherein, if the processing head has a cumulative rotation angle exceeding a preset range during the processing operation on the target path segment, the controller is used to control the processing head to perform a reset operation; the cumulative rotation angle is predicted by the controller before the processing head performs the processing operation on the target path segment, based on the contour trajectory corresponding to the target path segment, the current angle of the processing head, and a preset initial angle.

10. The processing equipment according to claim 9, characterized in that, The processing head includes an ultrasonic scalpel, the ultrasonic scalpel includes an ultrasonic transducer, the ultrasonic transducer is electrically connected to the controller via the cable, and the controller controls the processing head to perform the reset operation, and controls the ultrasonic transducer to stop transducing.

11. The processing equipment according to claim 9, characterized in that, The processing head is detachably connected to the main body of the device. The processing head includes at least one of an ultrasonic scalpel, a disc scalpel, and a cutting scalpel. The main body of the device can be selectively connected to one of the processing heads.

12. A processing system, comprising: At least one data processor; as well as At least one memory storing instructions that, when executed by the at least one data processor, implement the processing method according to any one of claims 1 to 8.

13. A computer-readable medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the processing method according to any one of claims 1 to 8.

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