A process trajectory planning method and system for shipbuilding process

Abstract

The application discloses a process trajectory planning method and system for a ship manufacturing process, and the method comprises the following steps: acquiring process requirement data of a ship manufacturing process scene and entity information of a plurality of target entities, and creating a target entity three-dimensional scene based on the same; acquiring at least one target model node selected by an operator for the target entity three-dimensional scene, simplifying the features of the target model node in the scene, and obtaining a lightweight three-dimensional scene; extracting a target machining range from non-target grid data bodies of non-target model nodes according to the process requirement data, so as to generate initial process trajectory data; determining a recommended process parameter set based on a process type, material parameters of a plurality of workpieces to be machined and precision requirements in the process requirement data; and performing collision detection on the lightweight three-dimensional scene, so as to generate target process trajectory data based on the lightweight three-dimensional scene obtained through the collision detection, the recommended process parameter set and the initial process trajectory data.

Description

Technical Field

[0001] This application relates to the field of process trajectory planning technology, and more specifically, to a process trajectory planning method and system for shipbuilding processes. Background Technology

[0002] In shipbuilding processes, core operations such as cutting, welding, and painting require planning robot trajectories within complex 3D environments and verifying the safety of these trajectories through collision detection. Ship sections are massive in size, and the work environment simultaneously includes processing equipment such as robots, positioners, and guide rails, as well as environmental facilities such as factory structures, railings, and foundations. The sheer scale of the 3D scene directly impacts the computational efficiency of trajectory planning and simulation verification.

[0003] To address these requirements, existing solutions organize the 3D scene using a spatial segmentation structure. This involves dividing the scene space into several sub-spatial units using an octree. During collision detection, interference judgment is only performed on entities within the sub-spatial unit adjacent to the processing equipment, reducing the computational load per collision detection. However, this solution relies on the pre-construction of the spatial segmentation structure. When the workpiece clamping position or equipment layout is adjusted, the spatial segmentation structure needs to be reconstructed, resulting in slow response after scene updates. Furthermore, the number of triangular faces within a single sub-spatial unit can still be substantial. Even with a reduction in the number of objects to be detected, the efficiency of interference calculation within the unit remains low, failing to meet the computational requirements. Summary of the Invention

[0004] The main objective of this application is to provide a process trajectory planning method and system for shipbuilding processes, in order to solve the problems in the prior art where the spatial segmentation structure needs to be reconstructed with scene changes and the geometric data within the subspace unit is not simplified, resulting in slow scene update response and low efficiency of interference calculation within the unit.

[0005] To achieve the above objectives, the first aspect of this application proposes a process trajectory planning method for shipbuilding processes, comprising:

[0006] Acquire process requirement data and entity information of multiple target entities in the shipbuilding process scenario; Based on the entity information of each target entity and the process type in the process requirement data, a three-dimensional scene of the target entity is created. Obtain at least one target model node selected by the operator for the target entity's 3D scene, and perform geometric feature simplification processing on the target model node in the target entity's 3D scene to obtain a lightweight 3D scene; Based on the processing type of the workpiece to be processed in the process requirement data, the target processing range is extracted from the non-target mesh data volume of the non-target model node, and the initial process trajectory data is generated based on the target processing range. Based on the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data, a recommended set of process parameters for multiple workpieces to be processed is determined. Collision detection is performed on the lightweight 3D scene to generate target process trajectory data based on the lightweight 3D scene that passes the collision detection, the recommended process parameter set for each workpiece to be processed, and the initial process trajectory data.

[0007] Secondly, this application provides a process trajectory planning system for shipbuilding processes, including: The acquisition module is used to acquire process requirement data and entity information of multiple target entities in the shipbuilding process scenario. A creation module is used to create a 3D scene of the target entities based on the entity information of each target entity and the process type in the process requirement data; The simplification module is used to obtain at least one target model node selected by the operator for the three-dimensional scene of the target entity, and to perform geometric feature simplification processing on the target model node in the three-dimensional scene of the target entity to obtain a lightweight three-dimensional scene. The extraction module is used to extract the target processing range from the non-target mesh data volume of the non-target model node according to the processing type of the workpiece to be processed in the process requirement data, and generate initial process trajectory data based on the target processing range; The determination module is used to determine a recommended set of process parameters for multiple workpieces to be processed based on the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data. The detection module is used to perform collision detection on the lightweight 3D scene, and generate target process trajectory data based on the lightweight 3D scene that has passed the collision detection, the recommended process parameter set for each workpiece to be processed, and the initial process trajectory data.

[0008] Thirdly, this application provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform a process trajectory planning method for shipbuilding processes as described in any one of the above applications.

[0009] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute any one of the process trajectory planning methods for shipbuilding processes.

[0010] The technical solutions provided by the embodiments of this application may include the following beneficial effects: In this application, by acquiring process requirement data and entity information of each target entity in the shipbuilding process scenario, a 3D scene of the target entities is created based on the entity information and process type. Kinematic parameters are assigned to the processing equipment and a linkage relationship is established, constructing a simulation environment that reflects the actual motion characteristics of the equipment. Operators select target model nodes corresponding to the environmental facilities and perform geometric feature simplification, reducing the data complexity of the environmental facilities in the scene while preserving the complete geometric accuracy of the processing equipment. Furthermore, it eliminates the need to rebuild the acceleration structure due to adjustments in workpiece clamping position or equipment layout. The target processing range is extracted from the non-target mesh data volume of the non-target model nodes, which retains complete accuracy, and initial process trajectory data is generated. The geometric source of the process trajectory is always based on the unsimplified, precise data. Contour analysis; based on process type, material parameters of the workpiece to be processed, and accuracy requirements, the process parameter library is matched and the recommended process parameter set is selected based on the best one. The parameter matching is automatically achieved by using historically accumulated process data; collision detection is performed on lightweight 3D scenes. Since the environmental facilities have been simplified in terms of geometric features, the number of triangular faces traversed by the collision detection is reduced. At the same time, the processing equipment still participates in the interference judgment with complete geometric accuracy, which not only speeds up the calculation speed of a single detection, but also ensures the reliability of the interference judgment results. After adjusting the attitude of trajectory points that overlap in space during detection, the position coordinates of each trajectory point, the corresponding adjusted end orientation, and the recommended process parameter set are integrated to generate target process trajectory data, so that the process trajectory can be directly used for execution by field equipment while meeting safety requirements. Attached Figure Description

[0011] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings: Figure 1 A flowchart of a process trajectory planning method for ship manufacturing processes provided in this application; Figure 2 This is a schematic diagram of a process trajectory planning system for ship manufacturing processes provided in this application. Detailed Implementation

[0012] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0013] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0014] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0015] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0016] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linked," and "socketing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0017] The core of this application is to provide a process trajectory planning method for shipbuilding processes, and a flowchart of one specific implementation is shown below. Figure 1 As shown, the method includes: Step 101: Obtain process requirement data and entity information of multiple target entities for the shipbuilding process scenario.

[0018] Step 102: Create a 3D scene of the target entity based on the entity information and process type in the process requirement data of each target entity.

[0019] Step 103: Obtain at least one target model node selected by the operator for the target entity's 3D scene, and perform geometric feature simplification processing on the target model node in the target entity's 3D scene to obtain a lightweight 3D scene.

[0020] Step 104: Based on the processing type of the workpiece to be processed in the process requirement data, extract the target processing range from the non-target mesh data volume of the non-target model node, and generate the initial process trajectory data based on the target processing range.

[0021] Step 105: Based on the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data, determine the recommended set of process parameters for multiple workpieces to be processed.

[0022] Step 106: Perform collision detection on the lightweight 3D scene, and generate target process trajectory data based on the lightweight 3D scene that has passed the collision detection, the recommended process parameter set for each workpiece to be processed, and the initial process trajectory data.

[0023] In step 101 above, the shipbuilding process scenario refers to the three-dimensional work space consisting of the processing equipment and working environment involved in the cutting, welding or painting processes during the construction of ship sections.

[0024] Process requirement data refers to the processing task description information issued from the shipbuilding control system to the process planning stage. It includes process type, material parameters of the workpiece to be processed, accuracy requirements, and work station layout information. The process type can be cutting, welding, or painting. Accuracy requirements refer to the level of processing quality requirements. The work station layout information records the preset position coordinates and orientation angles of each processing equipment in the work site.

[0025] The target entity refers to a three-dimensional object with independent spatial occupancy in the shipbuilding process scenario, including processing equipment entities and environmental facility entities. Processing equipment entities correspond to equipment that performs or assists in performing process operations, including robots, guide rails, positioners, workpieces, and tools; environmental facility entities correspond to objects that constitute the work site but do not participate in process operations, including factory structures, guardrails, and foundations.

[0026] Entity information refers to a data set describing the geometric shape and spatial pose of a target entity, including a list of face vertex indices, vertex spatial coordinates, preset position coordinates, and orientation angles. Each face index in the face vertex index list points to a triangular face composed of three vertices, a quadrilateral face composed of four vertices, or a polygonal face composed of more vertices. Each face index value corresponds to a vertex number. Vertex spatial coordinates refer to the coordinate values ​​in a local coordinate system established with the geometric center of the target entity as the origin. The origin of this local coordinate system is the geometric center of the target entity, and the three coordinate axes are aligned with the length, width, and height directions of the target entity, respectively. Preset position coordinates refer to the coordinate values ​​of the target entity in the work space in a world coordinate system established with a pre-selected fixed reference point in the shipbuilding process scenario as the origin. The three coordinate axes of this world coordinate system extend along the east, north, and vertically upward directions of the shipbuilding process scenario, respectively. The orientation angles define the rotation angles of the target entity's preset position coordinates relative to the coordinate axes in the world coordinate system.

[0027] In this application embodiment, a specific implementation method for acquiring data may be: receiving a task package and station layout file issued by the ship manufacturing control system, parsing the structured fields in the task package, extracting the process type of the task, the material parameters and precision requirements of the workpiece to be processed, and recording the station layout information of the placement of each processing equipment in the work site, and integrating the four types of information extracted into process requirement data.

[0028] Read the pre-stored scene format file, which stores the geometric shape of each target entity in the form of a list of polygon faces. By parsing the statements related to face definition and vertex coordinates in the file, extract the face vertex index list and vertex spatial coordinates of each target entity. Read the preset position coordinates and orientation angles of each target entity from the position layout file, and finally obtain the entity information of each target entity.

[0029] Step 102 above specifically includes the following steps: Step 201: Based on the vertex index list and vertex space coordinates of each target entity in the entity information, perform a unified transformation on the multiple geometric faces corresponding to each target entity to construct the initial mesh data volume corresponding to each target entity.

[0030] Step 202: Based on the preset position coordinates and orientation angles in the entity information of each target entity, convert the initial mesh data volume corresponding to each target entity to the world coordinate system to obtain the initial 3D scene.

[0031] Step 203: Based on the process type in the process requirement data, determine the kinematic parameters corresponding to the processing equipment entity, bind the kinematic parameters to the initial mesh data volume of the corresponding processing equipment entity in the initial 3D scene, and establish the linkage relationship between each processing equipment entity and between each processing equipment entity and the corresponding assembly target entity to form the target entity 3D scene.

[0032] In step 201 above, a geometric patch refers to a polygonal planar unit that constitutes the shape of the target entity, including triangular patches, quadrilateral patches, or polygonal patches formed by more vertices.

[0033] The initial mesh data volume refers to the three-dimensional geometric data set composed of all triangular facets obtained after unified transformation. Each triangular facet records its three vertex numbers and corresponding vertex spatial coordinates, as well as the numbers of adjacent triangular facets that share edges with it. The triangular facets form an adjacency relationship through shared edges.

[0034] In this embodiment, the vertex index list of each target entity is traversed, and the vertex number set corresponding to each vertex index is obtained one by one. For each vertex number set corresponding to a target entity, if the vertex number set contains three vertex numbers, the vertex is determined to be a triangular vertex; if the vertex number set contains four vertex numbers, the vertex is determined to be a quadrilateral vertex, and the quadrilateral vertex is split into two triangular vertexes; if the vertex number set contains five or more vertex numbers, the vertex is determined to be a polygonal vertex, and the first vertex number in the vertex number set is used as a common vertex, and then combined with the remaining non-adjacent vertex numbers in pairs to split the polygonal vertex into multiple triangular vertexes. Merge all triangles to obtain a triangle set. Compare the vertex numbers of each triangle in the set one by one. Determine that triangles with two identical vertex numbers are adjacent triangles that share an edge. Number each adjacent triangle. Combine each triangle in the set, its vertex numbers, vertex coordinates, and the numbers of adjacent triangles to form the initial mesh data volume corresponding to each target entity.

[0035] In step 202 above, the initial three-dimensional scene refers to the static spatial combination formed after all the initial mesh data volumes of all target entities are placed into the world coordinate system according to their respective preset position coordinates and orientation angles. In this scene, each target entity has not yet been given the ability to move.

[0036] In this embodiment of the application, for the initial mesh data volume corresponding to each target entity, the coordinates of each vertex in the initial mesh data volume are subjected to rotation and translation transformation. Specifically, the orientation angle is decomposed into rotation components around the three coordinate axes of the world coordinate system. According to the rotation components of each coordinate axis, the coordinates of each vertex are rotated in sequence to obtain the rotated vertex coordinates. The coordinates of each axis in the rotated vertex coordinates are superimposed on the corresponding axis coordinates in the preset position coordinates to finally obtain multiple coordinate transformed mesh data volumes. All coordinate transformed mesh data volumes constitute the initial three-dimensional scene.

[0037] In step 203 above, kinematic parameters refer to a set of characteristic data describing the motion capability of the processing equipment, including the number of joints, the range of motion of each joint, and the length of each joint link. The number of joints indicates the number of independently movable parts of the processing equipment. The range of motion of each joint defines the maximum rotation angle of each joint in the positive and negative directions. The length of each joint link refers to the structural dimensions between adjacent joints.

[0038] Linkage refers to the spatial movement relationship between two target entities. When one target entity moves, the target entity with which it is linked moves synchronously with the target entity, undergoing displacement and rotation. During the movement, their relative spatial positions remain unchanged from when they were assembled. For example, when the first joint of a robot moves, the second joint installed at the end of the first joint moves synchronously. When the first joint rotates by a certain angle, the second joint undergoes corresponding displacement and rotation in space, but its installation position relative to the first joint remains constant.

[0039] In this embodiment, based on the process type in the process requirement data, a processing equipment type matching the process type is searched from a pre-set equipment parameter library, and the kinematic parameters corresponding to that processing equipment type are retrieved. The kinematic parameters are added to the data structure of the initial mesh data volume of the corresponding processing equipment entity in the initial 3D scene. The initial mesh data volume after adding the kinematic parameters becomes the movable node in the target entity's 3D scene. For each processing equipment entity, the linkage relationship between them is determined based on the assembly hierarchy relationship. Specifically, the processing equipment entity upstream in the assembly hierarchy is determined as the active end of the linkage relationship, and the processing equipment entity downstream in the assembly hierarchy is determined as the follower end. When the active end moves, the follower end synchronously generates displacement and rotation with the active end, and the relative spatial position of both remains unchanged during the assembly process. The initial 3D scene after completing the above kinematic parameter binding and linkage relationship establishment is the target entity's 3D scene. The initial mesh data volumes of target entities in the target entity's 3D scene that are not determined as active or follower ends remain static nodes.

[0040] The initial three-dimensional scene constructed in this application embodiment can reflect the actual spatial position relationship of the operation, and the processing equipment in the initial three-dimensional scene has the same motion characteristics as the actual equipment. When the workpiece clamping position or equipment layout is adjusted, the scene creation process can be re-executed directly using the updated entity information without rebuilding additional acceleration structures, thus reducing the calculation delay caused by scene layout changes.

[0041] In step 103 above, the model nodes selected by the operator from the list of model nodes in the target entity's 3D scene in the graphical interface for interacting with the target entity are obtained. The selected model nodes are the target model nodes, and the unselected model nodes are the non-target model nodes. The target model nodes refer to the model nodes corresponding to the environmental facility entities, including the factory structure, guardrails, and foundations. These entities only serve as spatial references and work environment setups in the shipbuilding process scenario and do not participate in collision detection in the process trajectory simulation. The non-target model nodes correspond to the model nodes of the processing equipment entities, including robots, guide rails, positioners, workpieces, and tools.

[0042] Then, the geometric features of the target model nodes in the 3D scene of the target entity are simplified to obtain a lightweight 3D scene. This step specifically includes the following steps: Step 301: Calculate the angle between the normal vectors of each pair of adjacent triangular facets in the target mesh data volume corresponding to the target model node, mark the shared edges of the adjacent triangular facets with a normal vector angle less than a preset angle threshold as candidate simplified edges, and calculate the simplification cost of each candidate simplified edge.

[0043] Step 302: Select the candidate simplified edge with the lowest simplification cost as the target simplified edge. Based on the target simplified edge, perform edge collapse operation on the target mesh data volume in the target entity 3D scene until the number of triangular faces of the target mesh data volume is less than or equal to the preset simplification number, and obtain a lightweight 3D scene.

[0044] In step 301 above, the initial mesh data volume corresponding to the target model node can be the target mesh data volume.

[0045] Adjacent triangular facets refer to two triangular facets that share an edge in the initial mesh data volume.

[0046] The normal vector is the direction vector perpendicular to the plane containing the triangular facet. Its direction is determined by the three vertices of the triangular facet according to the right-hand rule, and the length of the normal vector is 1.

[0047] The angle between normal vectors refers to the angle between the normal vectors of two adjacent triangular facets. This angle is used to determine the flatness of the two triangular facets at the shared edge. The smaller the angle, the closer the two triangular facets are to being coplanar.

[0048] The preset angle threshold refers to a pre-set angle value. When the angle between the normal vectors is less than the threshold, it indicates that the two triangular facets are sufficiently flat at the shared edge, and the shared edge can be simplified. This application does not limit the value of the preset angle threshold. It can be set according to the degree of lightweighting selected by the operator. For example, in shallow lightweighting, the preset angle threshold can be set to a smaller angle value to merge only triangular facets that are close to coplanar. In deep lightweighting, the preset angle threshold can be set to a larger angle value to merge more adjacent triangular facets.

[0049] The simplification cost refers to the degree to which collapsing a candidate simplified edge affects the mesh shape. The smaller the simplification cost, the smaller the impact of collapsing the edge on the mesh shape.

[0050] In this embodiment, for each pair of adjacent triangular faces in the initial mesh data volume corresponding to each target model node, based on the coordinates of the three vertices of a triangular face, a vector pointing from the first vertex to the second vertex and a vector pointing from the first vertex to the third vertex are constructed. The cross product of these two vectors is performed to obtain the preliminary normal vector of the triangular face, and the length of the preliminary normal vector is calculated. The three components of the preliminary normal vector are divided by the length to obtain a normal vector with a length of 1. The same method is used to calculate the normal vector with a length of 1 for the other triangular face.

[0051] Calculate the dot product of two normal vectors and use the inverse cosine of this product as the angle between the two normal vectors. Compare the angle between each normal vector with a preset angle threshold. When the angle between the normal vectors is less than the preset angle threshold, mark the shared edge of the adjacent triangular facet pair as a candidate simplified edge. Use one endpoint of each candidate simplified edge as the target point for merging and the other endpoint as the point to be merged. Calculate the sum of squares of the distances from the newly generated vertex to all triangular facets surrounding the candidate simplified edge using a quadratic error metric algorithm. Use this sum of squares as the simplification cost of the candidate simplified edge. Specifically, obtain the vertex coordinates of all triangular facets surrounding the candidate simplified edge, calculate the plane equation of each triangular facet, calculate the perpendicular distance from the merged new vertex to each plane, and sum the squares of each perpendicular distance to obtain the simplification cost of the candidate simplified edge. The process of calculating the simplification cost of the candidate simplified edge using the quadratic error metric algorithm can be implemented using other algorithms.

[0052] In step 302 above, the target simplified edge refers to the candidate simplified edge with the lowest simplification cost in the current round, that is, the collapsible edge with the least impact on the current mesh shape.

[0053] The preset simplification quantity refers to the upper limit of the number of triangles set in advance. When the number of triangles in the initial mesh data volume is reduced to less than or equal to this value, the geometric feature simplification process terminates. The preset simplification quantity can be set according to the degree of lightweighting selected by the operator. This application does not make a specific limitation on this value.

[0054] In this embodiment, the candidate simplified edge with the lowest simplification cost is selected from all candidate simplified edges as the target simplified edge. An edge collapse operation is then performed on this target simplified edge. Specifically, the coordinates of the merged point on the target simplified edge are replaced with the coordinates of the target merged point. The two triangular faces corresponding to the target simplified edge are deleted, and the merged point numbers recorded in other triangular faces connected to the merged point are replaced with the target merged point numbers. After the edge collapse operation is completed, the number of triangular faces in the initial mesh data volume is reduced by two. The triangular faces affected by the edge collapse operation and their adjacent relationships are re-acquired, the angle between the normal vectors of each pair of adjacent triangular faces is calculated, candidate simplified edges are re-determined, and the simplification cost is calculated. A new target simplified edge is selected, and the edge collapse operation is performed again. This process is repeated until the number of triangular faces in the initial mesh data volume is less than or equal to the preset simplification number, resulting in a simplified mesh data volume. The initial mesh data volume corresponding to the target model node in the target entity's 3D scene is then replaced with the simplified mesh data volume, resulting in a lightweight 3D scene.

[0055] This application embodiment distinguishes between environmental facilities and processing equipment in a 3D scene. Only environmental facilities such as factory structures, guardrails, and foundations that do not participate in collision detection are subjected to edge collapse operations to reduce the number of their triangular faces. At the same time, the geometric contours of processing equipment such as robots, guide rails, positioners, workpieces, and tools are fully preserved. This simplifies the scene by reducing the amount of data while ensuring that the collision detection accuracy of the processing equipment is not affected.

[0056] In step 104 above, the step "extracting the target processing range from the non-target mesh data volume of the non-target model node according to the processing type of the workpiece to be processed in the process requirement data" specifically includes the following steps: Step 401: Obtain the geometric elements of the workpiece to be processed selected by the operator in the lightweight 3D scene.

[0057] Step 402: If the processing type of the workpiece to be processed in the process requirements data is surface processing, then extract the triangular facets of the corresponding workpiece surface from the non-target mesh data volume of the non-target model node, combine them with geometric elements to form a set of triangular facets, extract the target set of triangular facets that meet the coplanar condition from the set of triangular facets, and determine the target processing range based on the target set of triangular facets.

[0058] Step 403: If the processing type of the workpiece to be processed is edge processing, then extract the edges of the corresponding workpiece boundary from the non-target mesh data volume of the non-target model node, combine them with geometric elements to form an edge set, extract the edge sequence that satisfies the collinearity condition from the edge set, and determine the target processing range based on the edge sequence.

[0059] In step 401 above, the geometric element of the workpiece to be processed refers to a triangular facet or an edge selected by the operator on the 3D model of the workpiece displayed in the lightweight 3D scene.

[0060] In this embodiment of the application, the operator uses a point selection tool to click on the surface or boundary of the workpiece to be processed in the graphical interface of the lightweight 3D scene. The triangular facet or edge that is clicked is highlighted and the triangular facet or edge is identified as the geometric element of the workpiece to be processed.

[0061] In step 402 above, the surface processing type refers to the process type in which the processing tool needs to cover a continuous area of ​​the workpiece surface, such as painting.

[0062] The non-target mesh data volume of a non-target model node can be the preliminary mesh data volume of the non-target model node.

[0063] The coplanar condition refers to the fact that the angle between the normal vectors of two adjacent triangular facets is less than a preset coplanar threshold, indicating that the two facets belong to the same flat or gradually changing surface. The preset coplanar threshold can be set according to the degree of curvature change of the surface of the workpiece to be processed. The more gradual the curvature change, the larger the preset coplanar threshold can be set, so as to include a larger range of adjacent facets in the same processing area. This application does not limit the size of this value.

[0064] The target triangular facet set refers to the set of all triangular facets that satisfy the coplanar condition and are interconnected, which are found by expanding outward layer by layer from the triangular facet corresponding to the geometric element selected by the operator.

[0065] The processing type of the workpiece to be processed is surface processing. The target processing range corresponding to the surface processing type refers to the continuous surface area covered by the target triangular facet set. This area is the workpiece surface range that needs to be traversed in this processing operation.

[0066] In this embodiment, when the processing type of the workpiece to be processed is surface processing, all triangular facets constituting the outer surface of the workpiece are extracted from the non-target mesh data volume of the non-target model node corresponding to the workpiece to be processed, forming a triangular facet set. If the geometric element selected by the operator is a triangular facet, then the triangular facet is used as the reference triangular facet; if the selected geometric element is an edge, then the triangular facet set containing the edge is searched for as the reference triangular facet. Starting from the reference triangular facet, the first triangular facet adjacent to the reference triangular facet and whose normal vector angle is less than or equal to a preset coplanar threshold is searched in the triangular facet set, and all the first triangular facets found are added to the initial empty set along with the reference triangular facet. Then, the second triangular facet adjacent to each first triangular facet and whose normal vector angle is less than or equal to the preset coplanar threshold is searched in the triangular facet set, and all the second triangular facets found are also added to the initial empty set. The initial empty set is continuously expanded and enriched layer by layer in the above manner until no new triangular facets satisfying the coplanar condition can be found in a certain layer. Finally, the initial empty set of the reference triangular facet, the first triangular facet, the second triangular facet, and all other triangular facets that satisfy the coplanar condition is added, which is the target triangular facet set. The workpiece surface area covered by this target triangular facet set is determined as the target processing range.

[0067] In step 403 above, edge processing type refers to the process type in which the processing tool needs to move along a continuous boundary or edge of the workpiece to be processed, such as cutting or welding.

[0068] The edge set refers to the set of all edges extracted from the non-target mesh data volume of the non-target model node corresponding to the workpiece to be processed, which are contained by only one triangular facet. That is, the outer boundary edge set of the workpiece to be processed. If the inner contour processing is required, the inner hole boundary edge can also be included.

[0069] The collinearity condition refers to the situation where the angle between the direction vectors of two edges that are connected end-to-end is less than or equal to a preset collinearity threshold. This indicates that the direction change of the two edges at the connection point is gradual. The preset collinearity threshold can be set according to the curvature change of the workpiece boundary, and this application does not limit the specific value of this threshold. The angle between the direction vectors of two edges that are connected end-to-end can be obtained by constructing the direction vectors corresponding to the coordinates of the two endpoints of these two edges and calculating the inverse cosine of the dot product between the two direction vectors.

[0070] An edge sequence refers to a continuous sequence of edges in the edge set that satisfy the collinearity condition and are connected sequentially, starting from the initial edge determined by the geometric elements selected by the operator, and searching segment by segment in two directions along the head-to-tail connection relationship between the edges.

[0071] The processing type of the workpiece to be processed is edge processing. The target processing range corresponding to the edge processing type refers to the continuous boundary contour path determined by the edge sequence, that is, the trajectory path along which the current processing operation needs to move.

[0072] In this embodiment, when the processing type of the workpiece to be processed is edge processing, all edges contained in only one triangular facet are extracted from the non-target mesh data volume of the non-target model node corresponding to the workpiece to be processed, forming an edge set. If the geometric element selected by the operator is an edge, then the edge is used as the starting edge; if the geometric element selected by the operator is a triangular facet, then an edge belonging to the triangular facet is searched in the edge set as the starting edge. Starting from one endpoint of the starting edge, the first edge connected to the endpoint is searched in the edge set. If the angle between the direction vector of the first edge and the starting edge is less than or equal to a preset collinearity threshold, then the first edge is added to the initial empty sequence. The other endpoint of the first edge (i.e., the endpoint of the two endpoints of the first edge that is not connected to the starting edge) is used as the new search starting point, and the second edge connected to the other endpoint of the first edge is searched. If the angle between the direction vector of the second edge and the first edge is less than or equal to a preset collinearity threshold, then the second edge is also added to the initial empty sequence, and the search continues from the other endpoint of the second edge until no edge satisfying the collinearity condition can be found. Simultaneously, starting from the other endpoint of the initial edge, the search proceeds segment by segment in the opposite direction, adding edges that satisfy the collinearity condition to the initial empty sequence. When no more edges satisfying the collinearity condition can be found at either end of the initial edge, the initial empty sequence containing the initial edge, the first edge, the second edge, and all other edges is the edge sequence. The endpoint coordinates of each edge in this edge sequence are then connected sequentially to form a continuous spatial path. The boundary contour covered by this spatial path is defined as the target processing range.

[0073] The step "Generate initial process trajectory data based on the target processing range" specifically includes the following steps: Step 411: When the target processing range is a set of target triangular facets, extract the processing trajectory spacing and processing trajectory direction from the process requirement data, and generate multiple scan lines along the processing trajectory direction according to the processing trajectory spacing.

[0074] Step 412: Calculate the intersection points of each scan line with the edges of each triangular facet in the target triangular facet set, and form the initial process trajectory data based on the multiple edge intersection points corresponding to each scan line.

[0075] Step 413: When the target processing range is an edge sequence, merge the shared endpoints of adjacent edges in the edge sequence to form the initial process trajectory data.

[0076] In step 411 above, the processing trajectory spacing refers to the vertical distance between two adjacent scan lines, which is used to control the density of processing coverage.

[0077] The machining trajectory direction refers to the main direction in which the scan line extends, which can be parallel to a reference edge of the workpiece or consistent with a given direction.

[0078] Scan lines refer to a series of parallel straight lines evenly arranged along the machining trajectory direction and at the machining trajectory spacing within the area covered by the target triangular facet set.

[0079] In this embodiment, the machining trajectory spacing and machining trajectory direction are obtained from the process requirement data; based on the vertex coordinates of all triangles in the target triangle facet set, the vertex coordinates are projected onto the direction axis perpendicular to the machining trajectory direction to obtain the projection value of the vertex of each triangle facet on the direction axis; the interval between the minimum projection value and the maximum projection value is divided equally according to the machining trajectory spacing, and a straight line perpendicular to the machining trajectory direction and located in the plane where the target triangle facet set is located is generated at each division point. This straight line is the scan line.

[0080] In step 412 above, the initial process trajectory data corresponding to the target processing range being the target triangular facet set refers to the trajectory point sequence formed by connecting the intersection points of multiple scan lines with the edges of each triangular facet in the target triangular facet set in the order of the scan lines and the position order of the intersection points on each scan line. Each trajectory point records the position coordinates of the intersection point in the lightweight 3D scene.

[0081] An edge intersection point refers to the point where the scan line intersects with an edge of a triangle in the target triangle facet set.

[0082] In this embodiment, the three vertices of each triangle in the target triangle set are projected onto a direction axis perpendicular to the scan line direction to obtain corresponding projection values. The coordinates of the equidistant points corresponding to each scan line are used as the corresponding projection values. The projection values ​​corresponding to the three vertices of each triangle are compared with the projection values ​​of each scan line. If the projection values ​​corresponding to the three vertices of a triangle are all greater than or all less than the projection values ​​of the scan line, then the scan line does not intersect the triangle. If the projection values ​​corresponding to the three vertices of a triangle are both greater than and less than the projection values ​​of the scan line, then the scan line intersects the triangle, and the two intersecting edges are the two edges connecting the vertex whose projection value is greater than the projection value of the scan line and the vertex whose projection value is less than the projection value of the scan line.

[0083] The intersection points of the scan line with two intersecting edges are obtained using a line segment intersection algorithm or other algorithms. Multiple intersection points obtained on the same scan line are then connected sequentially along the scan line direction to form one or more trajectory point sequences corresponding to that scan line. All trajectory point sequences corresponding to all scan lines are then connected end-to-end in the order of the scan lines to obtain the initial process trajectory data.

[0084] In step 413 above, a shared endpoint refers to the same endpoint among the two endpoints of two adjacent edges.

[0085] When the target processing range is an edge sequence, the corresponding initial process trajectory data refers to the spatial path point sequence formed by arranging the endpoints of each edge in the edge sequence in the order of connecting the beginning and end of the edges. Each path point records the position coordinates of the endpoint in the lightweight 3D scene.

[0086] In this embodiment, the operator can simply pick up a face or an edge on the workpiece, and the system automatically searches and determines the complete surface area or boundary contour to be processed as the target processing range, avoiding the need for manual specification of the processing range one by one. Based on the non-target model node data that retains complete geometric accuracy, geometric elements are extracted and an initial process trajectory is generated. The final process trajectory is generated for different processing types, making the process trajectory generation process efficient and accurate.

[0087] Step 105 above specifically includes the following steps: Step 501: Extract an initial set of process parameters from the pre-stored process parameter library that matches the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data.

[0088] Step 502: If the initial process parameter set corresponds to multiple processing equipment combinations, obtain the historical call frequency of each processing equipment combination in the shipbuilding process scenario, and select the initial process parameter set corresponding to the processing equipment combination with the highest historical call frequency as the recommended process parameter set for each workpiece to be processed.

[0089] In step 501 above, the pre-stored process parameter library refers to a data storage unit that is pre-established in the data management system for shipbuilding process scenarios and contains the correspondence between process type, workpiece material parameters, precision level, processing equipment combination, process parameter values ​​and historical call frequency. The process parameter values ​​include specific operation parameters such as processing speed, working voltage of processing tools, working current, spraying pressure, and spraying distance.

[0090] The initial process parameter set refers to one or more sets of process parameter records that meet the retrieval conditions obtained from the pre-stored process parameter library by jointly retrieving the process type, workpiece material parameters, and accuracy requirements. Each set of process parameter records is associated with a combination of processing equipment.

[0091] In this embodiment, the process type, material parameters of the workpiece to be processed, and accuracy requirements are extracted from the process requirement data as joint search conditions. All process parameters matching the joint search conditions are then searched in a pre-stored process parameter library to form an initial process parameter set.

[0092] In step 502 above, the processing equipment combination refers to a set of processing equipment that can work together to complete a certain type of process operation. For example, the processing equipment combination can be a combination consisting of a welding robot, a positioner, a guide rail and a welding tool.

[0093] Historical call frequency refers to the cumulative number of times a certain combination of processing equipment has been selected to complete similar process tasks in a shipbuilding process scenario.

[0094] The recommended process parameter set refers to a set of process parameters that are finally determined after being selected based on the frequency of historical calls.

[0095] In this embodiment of the application, it is checked whether the initial process parameter set is associated with multiple different processing equipment combinations. If each process parameter record in the initial process parameter set is associated with only one processing equipment combination, then the initial process parameter set is used as the recommended process parameter set. If each process parameter record in the initial process parameter set is associated with multiple different processing equipment combinations, then the historical call frequency of the corresponding record of each processing equipment combination is read from the pre-stored process parameter library, and each processing equipment combination is sorted from high to low according to the historical call frequency. The process parameters corresponding to the processing equipment combination with the highest historical call frequency are selected as the recommended process parameter set for each workpiece to be processed.

[0096] For example, the process type in the currently acquired process requirement data is painting, the material parameter of the workpiece to be processed is marine structural steel, and the precision requirement is level two. The pre-stored process parameter library contains process parameters such as spraying distance, movement speed, and spraying flow rate corresponding to the E-type painting robot and G-type tool combination, with a historical call frequency of 28 times. It also stores another set of painting process parameters corresponding to the F-type painting robot and H-type tool combination, with a historical call frequency of 15 times. Both sets of process parameters satisfy the joint retrieval conditions of painting, marine structural steel, and level two, meaning the initial process parameter set is determined to be the process parameters of the E-type and G-type combination and the F-type and H-type combination, associated with two different processing equipment combinations. Based on historical call frequency, the process parameters corresponding to the E-type and G-type combination with the highest historical call frequency are selected as the recommended process parameter set.

[0097] This application embodiment uses a three-pronged retrieval system based on process type, workpiece material parameters, and precision requirements to automatically match process parameters that meet the current processing task, avoiding manual review and trial-and-error of each parameter. When multiple processing equipment combinations can meet the same process requirements, the system uses historical call frequency to select the best option, choosing the process parameters corresponding to the equipment combination that has been verified in production practice and has the highest usage frequency as the recommended result, making the recommended parameters more reliable and practical.

[0098] Step 106 above specifically includes the following steps: Step 601: Obtain the position coordinates of each trajectory point in the initial process trajectory data in the lightweight 3D scene, and determine the end orientation of the tool end of the processing equipment entity at each trajectory point.

[0099] Step 602: Based on the position coordinates of each trajectory point, the kinematic parameters of the processing equipment entity, and the end-effector orientation, construct the spatial bounding volume of the processing equipment entity at the position coordinates of each trajectory point in the lightweight 3D scene.

[0100] Step 603: Perform spatial overlap detection and safety distance verification on the mesh data volumes of each spatial bounding volume and each remaining model node in the lightweight 3D scene, and determine the trajectory points corresponding to the spatial bounding volumes that meet the preset unqualified conditions as trajectory points to be adjusted. Adjust the end orientation of the trajectory points to be adjusted until the spatial bounding volumes corresponding to the trajectory points to be adjusted meet the preset qualified conditions to obtain the adjusted end orientation. The remaining model nodes are model nodes other than the model nodes corresponding to the processing equipment entity.

[0101] Step 604: Integrate the position coordinates of each trajectory point, the corresponding adjusted end orientation, and the recommended process parameter set for each workpiece to be processed to generate target process trajectory data.

[0102] In step 601 above, the trajectory point refers to the position point in the initial process trajectory data arranged in the processing order. Each trajectory point records the position coordinates of the tool end of the processing equipment entity in the lightweight 3D scene.

[0103] The end-point orientation refers to the direction in which the tool end of the machining equipment entity points relative to the coordinate axes of the world coordinate system at each trajectory point.

[0104] In this embodiment, the position coordinates of each trajectory point in the lightweight 3D scene are sequentially read from the initial process trajectory data. For each trajectory point, the end orientation is determined according to the type of the target processing range: if the target processing range is determined by a set of target triangular facets, the direction of the normal vector of the plane containing the set of target triangular facets is determined as the end orientation of each trajectory point; if the target processing range is determined by an edge sequence, the direction of the vector formed by the two endpoints of the corresponding edge in the edge sequence is determined as the end orientation of each trajectory point.

[0105] For example, when the target processing range is determined by a set of target triangular facets, this set of target triangular facets corresponds to a planar area on the hull hull to be painted. The normal vector of the plane is vertically upward. Therefore, the end orientation of all trajectory points in the initial process trajectory data is determined to be vertically upward, and the tool end points in this direction at the trajectory points to ensure that the spraying tool is perpendicular to the surface to be painted. When the target processing range is determined by an edge sequence, this edge sequence corresponds to a boundary contour on the hull steel plate to be cut. One edge in the edge sequence has endpoints A and B. Therefore, at the trajectory point corresponding to this edge, the end orientation is determined to be the vector direction from endpoint A to endpoint B, i.e., along the positive X-axis. The tool end moves in this direction at the trajectory point to perform the cutting operation.

[0106] In step 602 above, the spatial bounding volume refers to the combination of multiple simple geometric shapes that surround each joint component of the processing equipment entity. In collision detection, it represents the spatial range occupied by the processing equipment entity in the lightweight 3D scene. The simple geometric shapes are cylinders or polyhedra. Cylinders are used to surround joint components with shapes that are approximately revolutions, and polyhedra are used to surround joint components with irregular shapes.

[0107] In this embodiment, based on the position coordinates and end-effector orientation of each trajectory point, and combined with the kinematic parameters corresponding to the processing equipment entity, the spatial position coordinates of each joint of the processing equipment entity at each trajectory point are calculated using an inverse kinematics algorithm. Specifically: using the position coordinates and end-effector orientation of each trajectory point as the target pose, and the base of the processing equipment entity as the starting reference point, the algorithm reverses the motion from the end-effector joint towards the base. During the reverse motion, the length of each joint link recorded in the kinematic parameters and the angle value of the joint closer to the end-effector are used as inputs. According to the constraints of the range of motion of each joint in the kinematic parameters, the angle value of each joint is solved sequentially. Then, starting from the base, the angle value of each joint and the length of each joint link in the kinematic parameters are used as inputs, and the algorithm reverses the motion from the base towards the end-effector joint, calculating the spatial position coordinates of each joint in the base coordinate system sequentially. Finally, the spatial position coordinates of each joint in the lightweight 3D scene are obtained. The above-mentioned process of calculating the spatial position coordinates of each joint using an inverse kinematics algorithm can be implemented using other algorithms. The base coordinate system refers to a local coordinate system established with the center point of the base mounting surface of the processing equipment entity as the origin. The directions of the three coordinate axes of this coordinate system are determined by the mounting direction of the processing equipment entity.

[0108] For each trajectory point, a corresponding bounding body type is selected based on the shape of its multiple joint components. A bounding body is constructed centered on the spatial coordinates of each joint: if the joint component shape is approximately a solid of revolution, a cylinder is selected as the bounding body type; if the joint component shape is irregular, a polyhedron is selected. The bounding bodies corresponding to each joint component are combined to obtain the spatial bounding body of the processing equipment entity at that trajectory point, ultimately yielding the spatial bounding body corresponding to each trajectory point.

[0109] In step 603 above, the remaining model nodes refer to other model nodes in the lightweight 3D scene besides the model nodes corresponding to the processing equipment entity currently performing collision detection. These include the target model nodes corresponding to the environmental facility entities and the model nodes corresponding to other processing equipment entities besides the current processing equipment entity. In other words, the corresponding collision detection simultaneously covers the spatial overlap between the current processing equipment entity and the workpiece to be processed, as well as between the current processing equipment entity and other processing equipment entities.

[0110] The preset non-compliance condition refers to the existence of spatial overlap between each spatial bounding volume and the mesh data volume of each remaining model node, or the minimum distance between each spatial bounding volume and the mesh data volume of each remaining model node being less than the preset safety distance.

[0111] The preset qualification condition means that there is no spatial overlap between each spatial bounding volume and the mesh data volume of each remaining model node, and the minimum distance between each spatial bounding volume and the mesh data volume of each remaining model node is greater than or equal to the preset safety distance.

[0112] The minimum spacing is the minimum distance between each point on the surface of the spatial bounding body and the nearest point on each triangular facet in the mesh data volume of each remaining model node. The preset safety spacing refers to the minimum allowable distance between the spatial bounding body and the mesh data volume of the remaining model nodes, which can be set according to the motion accuracy of the processing equipment entity and the simplification of the environmental facilities. This application embodiment does not limit this.

[0113] The trajectory point to be adjusted refers to the trajectory point whose corresponding spatial bounding volume overlaps with the grid data volume of the remaining model nodes, or whose minimum distance between the corresponding spatial bounding volume and the grid data volume of the remaining model nodes is less than the preset safety distance.

[0114] In this embodiment, for each trajectory point, the spatial bounding volume is used to determine whether there is spatial intersection between each bounding volume and each triangular facet in the mesh data volume of each remaining model node. Specifically: if the spatial bounding volume is a cylinder, the distances from the three vertices of each triangular facet to the axis of the cylinder are calculated. If the distance from a vertex to the axis is less than the radius of the cylinder and the projection of the vertex on the axis is between the two end faces of the cylinder, then spatial overlap exists. If the spatial bounding volume is a polyhedron, the intersection of each triangular facet with each face of the polyhedron is detected. If they intersect, then spatial overlap exists. When spatial overlap is detected in the spatial bounding volume corresponding to a trajectory point, the trajectory point is determined as the trajectory point to be adjusted.

[0115] When it is detected that the spatial bounding volume corresponding to a certain trajectory point does not spatially overlap with the mesh data volumes of the remaining model nodes, a safety distance check is further performed on the trajectory point. Specifically, the minimum distance between the spatial bounding volume and the mesh data volumes of the remaining model nodes is calculated. If the minimum distance is less than the preset safety distance, the trajectory point is also identified as a trajectory point to be adjusted. Through the above safety distance check, collision omissions that may occur due to the smoothing of some sharp corners or small protrusions after the geometric feature simplification of the mesh data volumes of environmental facilities are compensated for, so that the collision detection results still maintain a reliable safety margin under lightweight conditions.

[0116] The tool end of the processing equipment entity corresponding to each trajectory point to be adjusted is rotated by a preset angle around a preset axis, and the spatial position coordinates of each joint are recalculated to reconstruct the spatial bounding volume. Spatial overlap detection is then performed on each newly constructed spatial bounding volume. If spatial overlap still occurs, rotation and adjustment continue until the final constructed spatial bounding volume meets the preset qualification conditions, and the corresponding adjusted end-end orientation is recorded. Here, the preset axis refers to a pre-set reference axis used for adjusting the end-end orientation rotation, which can be set according to the structural characteristics of the processing equipment entity, for example, it can be set as the vertical axis of the world coordinate system; the preset angle refers to the step angle value of each rotation adjustment, which can be set according to the accuracy requirements of collision detection, but this embodiment does not limit this.

[0117] In step 604 above, the target process trajectory data refers to the final process trajectory data generated after collision detection and attitude adjustment, which can be directly sent to the on-site processing equipment for execution. It includes the position coordinates of each trajectory point, the end orientation, and the values ​​of various process parameters in the recommended process parameter set.

[0118] In this embodiment, the position coordinates of each trajectory point are written into the initial data set in the order of the trajectory points. The adjusted end orientation is added to each trajectory point in the initial data set, and the process parameter values ​​in the recommended process parameter set are added to the initial data set to obtain the target process trajectory data.

[0119] This application embodiment performs collision detection in a lightweight 3D scene, verifies the initial process trajectory data point by point, automatically identifies and adjusts the pose of trajectory points with spatial overlap risks. During the detection process, the number of triangular facets of environmental facilities is reduced due to lightweight processing, and the traversal calculation of collision detection is reduced accordingly. Meanwhile, the processing equipment still participates in interference judgment with complete geometric accuracy, and the collision detection results are accurate and reliable.

[0120] Figure 2 This is a schematic diagram illustrating a specific implementation of a process trajectory planning system for shipbuilding processes, as provided in this application. (Refer to...) Figure 2 The system may include: The acquisition module 21 is used to acquire process requirement data and entity information of multiple target entities in the shipbuilding process scenario. Module 22 is used to create a 3D scene of the target entities based on the entity information of each target entity and the process type in the process requirement data; The simplification module 23 is used to obtain at least one target model node selected by the operator for the three-dimensional scene of the target entity, and to perform geometric feature simplification processing on the target model node in the three-dimensional scene of the target entity to obtain a lightweight three-dimensional scene. Extraction module 24 is used to extract the target processing range from the non-target mesh data volume of non-target model nodes according to the processing type of the workpiece to be processed in the process requirement data, and generate initial process trajectory data based on the target processing range; The determination module 25 is used to determine a recommended set of process parameters for multiple workpieces to be processed based on the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data. The detection module 26 is used to perform collision detection on the lightweight 3D scene, so as to generate target process trajectory data based on the lightweight 3D scene that has passed the collision detection, the recommended process parameter set of each workpiece to be processed, and the initial process trajectory data.

[0121] This application provides a process trajectory planning system for shipbuilding processes to implement the aforementioned process trajectory planning method for shipbuilding processes. Therefore, the specific implementation of the process trajectory planning system for shipbuilding processes can be found in the embodiment section of the process trajectory planning method for shipbuilding processes described above. The specific implementation can be referred to the description of the corresponding embodiments, which will not be repeated here.

[0122] This application also provides an electronic device, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform a process trajectory planning method for shipbuilding processes as described in any one of the above applications.

[0123] This application also provides a computer-readable storage medium storing computer instructions for causing a computer to execute any one of the process trajectory planning methods for shipbuilding processes.

[0124] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory, random access memory, portable hard drives, magnetic disks, or optical disks.

[0125] The embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the above embodiments of the process trajectory planning method for shipbuilding processes.

[0126] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0127] Obviously, those skilled in the art should understand that the various units or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps into a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0128] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A process trajectory planning method for shipbuilding processes, characterized in that, include: Acquire process requirement data and entity information of multiple target entities in the shipbuilding process scenario; Based on the entity information of each target entity and the process type in the process requirement data, a three-dimensional scene of the target entity is created. Obtain at least one target model node selected by the operator for the target entity's 3D scene, and perform geometric feature simplification processing on the target model node in the target entity's 3D scene to obtain a lightweight 3D scene; Based on the processing type of the workpiece to be processed in the process requirement data, the target processing range is extracted from the non-target mesh data volume of the non-target model node, and the initial process trajectory data is generated based on the target processing range. Based on the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data, a recommended set of process parameters for multiple workpieces to be processed is determined. Collision detection is performed on the lightweight 3D scene to generate target process trajectory data based on the lightweight 3D scene that passes the collision detection, the recommended process parameter set for each workpiece to be processed, and the initial process trajectory data.

2. The method according to claim 1, characterized in that, Based on the entity information of each target entity and the process type in the process requirement data, a 3D scene of the target entity is created, including: Based on the vertex index list and vertex space coordinates of each target entity in the entity information, the multiple geometric faces corresponding to each target entity are uniformly transformed to construct the initial mesh data volume corresponding to each target entity. Based on the preset position coordinates and orientation angles in the entity information of each target entity, the initial mesh data volume corresponding to each target entity is transformed into the world coordinate system to obtain the initial three-dimensional scene; Based on the process type in the process requirement data, determine the kinematic parameters corresponding to the processing equipment entity, bind the kinematic parameters to the initial mesh data volume of the corresponding processing equipment entity in the initial three-dimensional scene, and establish the linkage relationship between each processing equipment entity and between each processing equipment entity and the corresponding assembled target entity to form a three-dimensional scene of the target entity.

3. The method according to claim 1, characterized in that, The target model nodes in the 3D scene of the target entity are subjected to geometric feature simplification processing to obtain a lightweight 3D scene, including: Calculate the angle between the normal vectors of each pair of adjacent triangular facets in the target mesh data volume corresponding to the target model node, mark the shared edges of the adjacent triangular facets with a normal vector angle less than a preset angle threshold as candidate simplified edges, and calculate the simplification cost of each candidate simplified edge. The candidate simplified edge with the lowest simplification cost is selected as the target simplified edge. Based on the target simplified edge, the target mesh data volume in the target entity's 3D scene is subjected to edge collapse operation until the number of triangular faces of the target mesh data volume is less than or equal to the preset simplification number, thus obtaining a lightweight 3D scene.

4. The method according to claim 1, characterized in that, Based on the processing type of the workpiece to be processed in the process requirement data, the target processing range is extracted from the non-target mesh data volume of the non-target model nodes, including: Obtain the geometric elements of the workpiece to be processed selected by the operator in the lightweight 3D scene; If the processing type of the workpiece to be processed in the process requirement data is surface processing, then the triangular facets corresponding to the workpiece surface are extracted from the non-target mesh data volume of the non-target model node, and combined with the geometric elements to form a set of triangular facets. From the set of triangular facets, the target set of triangular facets that meet the coplanar condition is extracted, and the target processing range is determined based on the set of target triangular facets. If the processing type of the workpiece to be processed is edge processing, then the edges corresponding to the boundary of the workpiece to be processed are extracted from the non-target mesh data volume of the non-target model node, and combined with the geometric elements to form an edge set. The edge sequence that satisfies the collinearity condition is extracted from the edge set, and the target processing range is determined based on the edge sequence.

5. The method according to claim 1, characterized in that, Based on the target processing range, initial process trajectory data is generated, including: When the target processing range is a set of target triangular facets, the processing trajectory spacing and processing trajectory direction are extracted from the process requirement data, and multiple scan lines are generated along the processing trajectory direction according to the processing trajectory spacing; Calculate the intersection points of each scan line with the edges of each triangle in the target triangle set, and form initial process trajectory data based on the multiple edge intersection points corresponding to each scan line; When the target processing range is an edge sequence, the shared endpoints of adjacent edges in the edge sequence are merged to form initial process trajectory data.

6. The method according to claim 1, characterized in that, Based on the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data, a recommended set of process parameters for multiple workpieces to be processed is determined, including: Extract an initial set of process parameters from the pre-stored process parameter library that matches the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data. If the initial process parameter set corresponds to multiple processing equipment combinations, then the historical call frequency of each processing equipment combination in the shipbuilding process scenario is obtained, and the initial process parameter set corresponding to the processing equipment combination with the highest historical call frequency is selected as the recommended process parameter set for each workpiece to be processed.

7. The method according to claim 1, characterized in that, Collision detection is performed on the lightweight 3D scene to generate target process trajectory data based on the collision-detected lightweight 3D scene, the recommended process parameter set for each workpiece to be processed, and the initial process trajectory data, including: Obtain the position coordinates of each trajectory point in the initial process trajectory data in the lightweight 3D scene, and determine the end orientation of the tool end of the processing equipment entity at each trajectory point; Based on the position coordinates of each trajectory point, the kinematic parameters of the processing equipment entity, and the end-effector orientation, construct the spatial bounding volume of the processing equipment entity at the position coordinates of each trajectory point in the lightweight 3D scene. In the lightweight 3D scene, spatial overlap detection and safety distance verification are performed on the mesh data of each spatial bounding volume and each remaining model node. The trajectory points corresponding to the spatial bounding volumes that meet the preset unqualified conditions are determined as trajectory points to be adjusted. The end orientation of the trajectory points to be adjusted is adjusted until the spatial bounding volumes corresponding to the trajectory points to be adjusted meet the preset qualified conditions, and the adjusted end orientation is obtained. The remaining model nodes are model nodes other than the model nodes corresponding to the processing equipment entity. The position coordinates of each trajectory point, the corresponding adjusted end orientation, and the recommended process parameter set for each workpiece to be processed are integrated to generate target process trajectory data.

8. A process trajectory planning system for shipbuilding processes, characterized in that, include: The acquisition module is used to acquire process requirement data and entity information of multiple target entities in the shipbuilding process scenario. A creation module is used to create a 3D scene of the target entities based on the entity information of each target entity and the process type in the process requirement data; The simplification module is used to obtain at least one target model node selected by the operator for the three-dimensional scene of the target entity, and to perform geometric feature simplification processing on the target model node in the three-dimensional scene of the target entity to obtain a lightweight three-dimensional scene. The extraction module is used to extract the target processing range from the non-target mesh data volume of the non-target model node according to the processing type of the workpiece to be processed in the process requirement data, and generate initial process trajectory data based on the target processing range; The determination module is used to determine a recommended set of process parameters for multiple workpieces to be processed based on the process type, material parameters of multiple workpieces to be processed, and accuracy requirements in the process requirement data. The detection module is used to perform collision detection on the lightweight 3D scene, and generate target process trajectory data based on the lightweight 3D scene that has passed the collision detection, the recommended process parameter set for each workpiece to be processed, and the initial process trajectory data.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute a process trajectory planning method for shipbuilding processes as described in any one of claims 1-7.

10. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform a process trajectory planning method for shipbuilding processes as described in any one of claims 1-7.

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