CN113836770B - Method, apparatus, computer device and computer readable storage medium for tool breakpoint resume processing - Google Patents
Method, apparatus, computer device and computer readable storage medium for tool breakpoint resume processing Download PDFInfo
- Publication number
- CN113836770B CN113836770B CN202111139719.XA CN202111139719A CN113836770B CN 113836770 B CN113836770 B CN 113836770B CN 202111139719 A CN202111139719 A CN 202111139719A CN 113836770 B CN113836770 B CN 113836770B
- Authority
- CN
- China
- Prior art keywords
- matrix
- row
- breakpoint
- tool
- cutter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Computational Mathematics (AREA)
- Mathematical Optimization (AREA)
- Data Mining & Analysis (AREA)
- Pure & Applied Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Analysis (AREA)
- Computing Systems (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Algebra (AREA)
- Geometry (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- Numerical Control (AREA)
Abstract
The embodiment of the invention provides a method, a device, computer equipment and a computer readable storage medium for restoring machining of a cutting tool breakpoint, and relates to the technical field of engraving. The method comprises the steps of rasterizing an effective area of an XY plane of engraving equipment into a matrix A and a matrix B of two identical rows and columns; mapping the track of the cutter on the XY plane to a matrix A and a matrix B; under the condition of breaking the cutter, moving the cutter to a designated position of a break point to acquire a corresponding first element item L in the matrix A a And a corresponding second element L in matrix B b The method comprises the steps of carrying out a first treatment on the surface of the At [ L ] a ，L b The distance between the track and the designated position is calculated row by row in the corresponding area, and the row with the smallest distance is selected, so that the row with the smallest distance to the breakpoint can be rapidly positioned, processing is recovered from the row, and the processing efficiency is improved.
Description
Technical Field
The present invention relates to the field of engraving technology, and in particular, to a method, an apparatus, a computer device, and a computer readable storage medium for cutting tool breakpoint recovery processing.
Background
In the engraving field, the path file of the cutter is generally large, and if abnormal conditions such as cutter breakage occur in the processing process, the processing needs to be resumed near the breakpoint. However, since machining is still continued after the breaking, operators often do not know the line number of the machining file when the breaking is performed, and at this time, the following two measures are usually adopted to resume machining:
1. the designated line locating function is used, namely, a processing file starts to be processed from a designated line number position, and multiple attempts can be needed to locate the position near the breakpoint by adopting the method, so that the efficiency is low;
2. the nearest point machining positioning function of a designated position is used, namely, a cutter is moved to a position near a breakpoint, machining is restored by searching a line number nearest to the position in a machining file, a searching algorithm generally calculates the distance between a cutter track and the designated position line by line, and a line with the smallest distance is selected, and for an oversized cutter track file, the line number is generally more than millions of lines, even tens of millions of lines, and at the moment, the searching algorithm is time-consuming and low in efficiency.
Disclosure of Invention
The invention aims to provide a method, a device, computer equipment and a computer readable storage medium for restoring machining of a breakpoint of a cutter, which can quickly acquire a nearest row of a designated position of the breakpoint after rasterizing an effective area of an XY plane, and restore machining from the row.
Embodiments of the invention may be implemented as follows:
in a first aspect, the present invention provides a method for recovering a breakpoint of a tool, the method comprising:
the method comprises the steps of (1) rasterizing an effective area of an XY plane of engraving equipment into a matrix A and a matrix B of two identical rows and columns;
mapping the track of the cutter on the XY plane to a matrix A and a matrix B;
under the condition of breaking the cutter, moving the cutter to a designated position of a break point to acquire a corresponding first element item L in the matrix A a And a corresponding second element L in matrix B b ；
At [ L ] a ，L b And calculating the distance between the track and the designated position row by row in the corresponding region, selecting the row with the smallest distance, and recovering processing from the row.
In an alternative embodiment, the step of rasterizing the active area of the XY plane of the engraving device into two matrices a and B of the same rank comprises:
the effective area is rasterized into two matrices A [ w/e, d/e ] and B [ w/e, d/e ] of the same rows and columns according to the length w, the width d and the grid precision e of the effective area of the XY plane of the engraving device.
In an alternative embodiment, after the step of rasterizing the active area of the XY plane of the engraving device into two matrices a and B of the same rank, the method further comprises:
the location of the origin of the object coordinate system in the matrix a and the matrix B is determined.
In an alternative embodiment, the step of determining the position of the origin of the object coordinate system in the matrix a and the matrix B comprises:
the origin of the object coordinate system is O (x 0 ，y 0 ) The positions mapped into matrix a and matrix B are (O x ，O y ) Wherein O is x ＝x 0 /e，O y ＝y 0 /e。
In an alternative embodiment, after the step of rasterizing the active area of the XY plane of the engraving device into two matrices a and B of the same rank, the method further comprises:
initializing all elements of the matrix A and the matrix B to be specified negative numbers;
after the step of mapping the trajectory of the tool in the XY plane to the matrix a and the matrix B, the method further comprises:
acquiring matrix element items of the track passing through the matrix A and the matrix B;
for matrix A, assigning is performed when the matrix element entries are equal to the specified negative number, and for matrix B, assigning is performed directly.
In an alternative embodiment, in the case of a broken cutter, moving the cutter to a designated position of the break point to obtain a corresponding first element item L in the matrix a a And a corresponding second element L in matrix B b The method comprises the following steps:
moving the cutter to the appointed position of the breakpoint, and acquiring a corresponding first element item L in the matrix A by using the current workpiece coordinate a And a corresponding second element L in matrix B b 。
In an alternative embodiment, the method further comprises:
at L a In the case of being equal to the specified negative number, then L a The original corresponding point is used as the center to expand the searching range, and the minimum element item in the peripheral valued row number is taken as L a ；
At L b In the case of being equal to the specified negative number, then L b The original corresponding point is used as the center to expand the searching range, and the minimum element item in the peripheral valued row number is taken as L b 。
In a second aspect, the present invention provides an apparatus for resuming machining of a tool breakpoint, the apparatus comprising:
the rasterization module is used for rasterizing the effective area of the XY plane of the engraving equipment into a matrix A and a matrix B with two identical rows and columns;
the mapping module is used for mapping the track of the cutter on the XY plane to a matrix A and a matrix B;
the element item acquisition module is used for moving the cutter to the appointed position of the breakpoint under the condition that the cutter is broken, and acquiring a corresponding first element item L in the matrix A a And a corresponding second element L in matrix B b ；
Positioning processing module for at [ L ] a ，L b And calculating the distance between the track and the designated position row by row in the corresponding region, selecting the row with the smallest distance, and recovering processing from the row.
In a third aspect, the present invention provides a computer device comprising:
one or more processors;
a memory for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the method of tool breakpoint resume processing of any of the preceding embodiments.
In a fourth aspect, the present invention provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements a method of tool breakpoint resume processing according to any of the previous embodiments.
The method, the device, the computer equipment and the computer readable storage medium for the breakpoint recovery processing of the cutter provided by the embodiment of the invention have the beneficial effects that:
after the effective area of the XY plane of the engraving equipment is rasterized into a matrix A and a matrix B with the same rows and columns, the cutter is moved to the appointed position of the breakpoint, and a first element item L corresponding to the matrix A is obtained a And a corresponding second element L in matrix B b In [ L ] a ，L b The row with the smallest distance from the appointed position is calculated row by row in the corresponding area, the row with the smallest distance from the breakpoint can be rapidly positioned, and then the processing is resumed from the row, so that the processing efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an application scenario schematic diagram of a method for recovering and processing a cutting tool breakpoint according to an embodiment of the present invention;
FIG. 2 is a block diagram of a computer device according to an embodiment of the present invention;
fig. 3 is a flow chart of a method for recovering and processing a break point of a tool according to an embodiment of the present invention;
FIG. 4 is a schematic view of the grid in which the positioning tools are located in matrix A;
FIG. 5 is a schematic view of a grid in which the positioning tools are located in matrix B;
fig. 6 is a block schematic diagram of an apparatus for resuming machining of a cutting tool breakpoint according to an embodiment of the present invention.
Icon: 1-a computer device; 2-a processing table; 3-a driving mechanism; 4-a cutter; 5-to-be-machined parts; a 6-processor; 7-a memory; 8-buses; 9-a device for recovering the breakpoint of the cutter; 10-rasterizing a module; 11-initializing a module; 12-an origin determining module; 13-obtaining a track element item module; 14-assigning a value module; 15-obtaining an element item module; 16-positioning and processing modules; 17-mapping module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic view of an application scenario of a method for resuming machining of a cutting tool breakpoint according to the present embodiment, which includes a computer device 1, a machining table 2, a driving mechanism 3, a cutting tool 4, and a workpiece 5 to be machined, wherein the workpiece 5 to be machined is mounted on the machining table 2, the cutting tool 4 is connected to the driving mechanism 3, the driving mechanism 3 may be a mechanical arm, and the computer device 1 is in communication connection with the driving mechanism 3.
The computer device 1 is used for controlling the drive mechanism 3, and is provided with control software and a database in advance. The control software has a software interface which interacts with the operator, for example, by means of which the operator can control the drive mechanism 3, while the computer device 1 can display the progress of the work piece 5 to be worked by means of the software interface.
The control software comprises various control programs and positioning algorithms, and the working states of the driving mechanism 3 and the cutter 4 and the breakpoint recovery processing of the cutter 4 described in the following embodiments can be controlled by running the various control programs and positioning algorithms. The database stores data of the machining process of the tool 4, the type of the workpiece 5 to be machined, and the like.
Alternatively, the computer device 1 may be any one of a tablet computer, a portable notebook computer, a desktop computer, an industrial personal computer, a server, etc., and the above devices may be used to implement the method for recovering and processing a break point of a tool as described in the following embodiments.
Referring to fig. 2, fig. 2 is a block diagram of a computer device 1 according to the present embodiment, where the computer device 1 includes a processor 6, a memory 7, and a bus 8, and the processor 6 and the memory 7 are connected through the bus 8.
The memory 7 is used for storing a program, such as the tool breakpoint resuming device 9 shown in fig. 6. The means 9 for tool breakpoint resumption machining comprise at least one software function which may be stored in the memory 7 in the form of software or firmware (firmware) or be solidified in the Operating System (OS) of the computer device 1. After receiving the execution instruction, the processor 6 executes a program to implement the method for restoring the breakpoint of the tool disclosed in the following embodiments.
The processor 6 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the method of tool breakpoint resumption machining may be accomplished by instructions in the form of integrated logic circuits or software of hardware in the processor 6.
The processor 6 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
On the basis of the computer device 1 shown in fig. 2, a possible implementation manner of a method for recovering a tool breakpoint is given below, and fig. 3 is a schematic flow chart of the method for recovering a tool breakpoint provided by the present invention, referring to fig. 3, the method for recovering a tool breakpoint may include the following steps:
s1: the active area of the XY plane of the engraving device is rasterized into two matrices a and B of the same rank.
Specifically, the effective area is rasterized into two matrices A [ w/e, d/e ] and B [ w/e, d/e ] of the same rows and columns according to the length w, the width d and the grid precision e of the effective area of the XY plane of the engraving device.
S2: all elements of matrix a and matrix B are initialized to a specified negative number.
Specifically, the specified negative number may be any negative number, for example, -1, and is also exemplified below with the specified negative number being-1. Here, the negative number of all elements of the matrix a and the matrix B is initialized to distinguish from a line number, which is an integer greater than or equal to 0.
S3: the location of the origin of the object coordinate system in the matrix a and the matrix B is determined.
Specifically, the origin of the object coordinate system is O (x 0 ，y 0 ) The positions mapped into matrix a and matrix B are (O x ，O y ) Wherein O is x ＝x 0 /e，O y ＝y 0 /e。
S4: the trajectory of the tool in the XY plane is mapped to a matrix a and a matrix B.
Specifically, during the machining process, the track of the tool in the XY plane is mapped to the matrix A and the matrix B according to the track of the tool in the machining file.
S5: and acquiring matrix element items of the track passing through the matrix A and the matrix B.
S6: for matrix A, assigning is performed when the matrix element entries are equal to the specified negative number, and for matrix B, assigning is performed directly.
Specifically, taking the path of the tool as a straight line segment as an example, the point P is calculated from the coordinate system of the workpiece 1 (x 1 ，y 1 ) Move to point P 2 (x 2 ，y 2 ) The corresponding line number of the tool path is n, and the point P is firstly 1 Sum point P 2 Mapped to matrix A and matrix B, the row and column positions of the corresponding elements are (O x +x 1 /e，O y +y 1 /e) and (O) x +x 2 /e，O y +y 2 And/e) obtaining matrix element items passing through the straight line segments through linear refinement, and for the matrix A, assigning a line number n to the element items if the element values are-1, otherwise, maintainingA previous value; for matrix B, a row number n is assigned to these element entries.
S7: under the condition of breaking the cutter, moving the cutter to a designated position of a break point to acquire a corresponding first element item L in the matrix A a And a corresponding second element L in matrix B b 。
Specifically, when abnormal conditions such as cutter breakage occur in the machining process, the nearest point machining positioning of a designated position is adopted, firstly, the cutter is moved to the designated position of a breakpoint, and corresponding element items (O) in a matrix A and a matrix B are obtained by utilizing the current workpiece coordinates (x, y) x +x/e，O y Value L of +y/e) a 、L b That is, the line with the distance between the path of the tool and the designated position in the machining file smaller than the grid precision e must be in L a And L is equal to b Within the range.
S8: at [ L ] a ，L b And calculating the distance between the track and the designated position row by row in the corresponding region, selecting the row with the smallest distance, and recovering processing from the row.
Specifically, at L a In the case of being equal to the specified negative number, then L a The original corresponding point is used as the center to expand the searching range, and the minimum element item in the peripheral valued row number is taken as L a Then, the distance between the track and the appointed position is calculated; at L b In the case of being equal to the specified negative number, then L b The original corresponding point is used as the center to expand the searching range, and the minimum element item in the peripheral valued row number is taken as L b And then, calculating the distance between the track and the designated position.
Referring to fig. 4 and fig. 5, the following is a specific application example procedure of the method for recovering the breakpoint of the tool according to the present embodiment:
path D of tool 1 Is from point (x 1 ，y 1 ) Move to point (x) 2 ，y 2 ) Corresponding to the line number 100, the track D of the cutter 2 Is from point (x 3 ，y 3 ) Move to point (x) 4 ，y 4 ) Corresponding to line number 300, the corresponding element values in matrix A are as shown in FIG. 4, and in matrix B are as shown in FIG. 5, assuming that the machining is interrupted at Δ, from which it is necessary to continueAnd (3) carrying out subsequent processing, namely moving the cutter to the vicinity of the designated position O, obtaining a grid where the cutter is located, calling out the element items in the matrix A and the matrix B as 100 and 300 respectively, calculating the distance between the track and the designated position row by row between 100 rows and 300 rows, selecting the row with the smallest distance, and recovering processing from the rows.
In order to carry out the respective steps of the above examples and of the various possible embodiments, an implementation of the device 9 for tool breakpoint resumption processing is given below. Referring to fig. 6, a schematic functional block diagram of a device 9 for recovering a cutting tool breakpoint according to the present invention is shown. It should be noted that, the basic principle and the technical effects of the device 9 for restoring the cutting tool break point of the present embodiment are the same as those of the foregoing method embodiment, and for brevity, reference may be made to the corresponding content of the foregoing method embodiment for the description of the present embodiment. The apparatus 9 for tool breakpoint resume processing is applied to the computer device 1, and the following description is made with reference to fig. 6 of the apparatus 9 for tool breakpoint resume processing, where the apparatus 9 for tool breakpoint resume processing includes:
the rasterizing module 10 is configured to perform S1: the active area of the XY plane of the engraving device is rasterized into two matrices a and B of the same rank.
An initialization module 11, configured to perform S2: all elements of matrix a and matrix B are initialized to a specified negative number.
The origin determining module 12 is configured to perform S3: the location of the origin of the object coordinate system in the matrix a and the matrix B is determined.
Mapping module 17, for performing S4: the trajectory of the tool in the XY plane is mapped to a matrix a and a matrix B.
The track element item acquisition module 13 is configured to perform S5: and acquiring matrix element items of the track passing through the matrix A and the matrix B.
Assignment module 14 for performing S6: for matrix A, assigning is performed when the matrix element entries are equal to the specified negative number, and for matrix B, assigning is performed directly.
The element item obtaining module 15 is configured to perform S7: under the condition of breaking the cutter, moving the cutter to the appointed position of the break point to obtain the corresponding first in the matrix AElement item L a And a corresponding second element L in matrix B b 。
The positioning processing module 16 is configured to perform S8: at [ L ] a ，L b And calculating the distance between the track and the designated position row by row in the corresponding region, selecting the row with the smallest distance, and recovering processing from the row.
The present embodiment also provides a computer readable storage medium having a computer program stored thereon, which when executed by the processor 6, implements a method for tool breakpoint resumption processing.
Compared with the prior art, the method and the device for restoring the breakpoint of the cutter, the computer equipment 1 and the computer readable storage medium provided by the embodiment of the invention have the beneficial effects that:
after the effective area of the XY plane of the engraving equipment is rasterized into a matrix A and a matrix B with the same rows and columns, the cutter is moved to the appointed position of the breakpoint, and a first element item L corresponding to the matrix A is obtained a And a corresponding second element L in matrix B b In [ L ] a ，L b The row with the smallest distance from the appointed position is calculated row by row in the corresponding area, the row with the smallest distance from the breakpoint can be rapidly positioned, and then the processing is resumed from the row, so that the processing efficiency is improved.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. A method for resuming machining of a tool breakpoint, the method comprising:
the method comprises the steps of (1) rasterizing an effective area of an XY plane of engraving equipment into a matrix A and a matrix B of two identical rows and columns;
initializing all elements of the matrix A and the matrix B to be specified negative numbers;
mapping the track of the cutter on the XY plane to the matrix A and the matrix B;
acquiring matrix element items of the track passing through the matrix A and the matrix B;
for the matrix A, performing assignment when the matrix element item is equal to the appointed negative number, and for the matrix B, performing assignment directly;
under the condition of breaking the cutter, moving the cutter to a designated position of a break point to acquire a corresponding first element item L in the matrix A a And a corresponding second element item L in the matrix B b ；
At [ L ] a ，L b Calculating the distance between the track and the appointed position row by row in the corresponding area, selecting the row with the minimum distance, and recovering processing from the row, wherein the method comprises the following steps: at L a Equal to the specified negative number, then take L a The original corresponding point is used as the center to expand the searching range, and the minimum element item in the peripheral valued row number is taken as L a The method comprises the steps of carrying out a first treatment on the surface of the At L b Equal to the specified negative number, then take L b The original corresponding point is used as the center to expand the searching range, and the minimum element item in the peripheral valued row number is taken as L b 。
2. The method of tool breakpoint resumption processing according to claim 1, wherein the step of rasterizing the effective area of the XY plane of the engraving device into two matrices a and B of the same rank comprises:
the effective area is rasterized into two matrices A [ w/e, d/e ] and B [ w/e, d/e ] of the same rank according to the length w, the width d and the grid precision e of the effective area of the XY plane of the engraving device.
3. The method of tool breakpoint resumption processing according to claim 1, wherein after the step of rasterizing the effective area of the XY plane of the engraving device into two matrices a and B of the same rank, the method further comprises:
the position of the origin of the object coordinate system in the matrix A and the matrix B is determined.
4. A method of tool breakpoint resume processing according to claim 3, wherein the step of determining the position of the origin of the object coordinate system in the matrix a and the matrix B comprises:
the origin of the object coordinate system is O (x 0 ，y 0 ) The positions mapped into the matrix a and the matrix B are (O x ，O y ) Wherein O is x ＝x 0 /e，O y ＝y 0 /e。
5. The method for restoring a breakpoint of a tool according to claim 1, wherein in case of occurrence of a broken tool, the tool is moved to a designated position of the breakpoint to obtain a corresponding first element item L in the matrix a a And a corresponding second element item L in the matrix B b The method comprises the following steps:
moving the cutter to a designated position of a breakpoint, and acquiring the first element item L corresponding to the matrix A by using the current workpiece coordinates a And the corresponding second element item L in the matrix B b 。
6. An apparatus for tool breakpoint resumption machining, the apparatus comprising:
a rasterization module (10) for rasterizing the active area of the XY plane of the engraving device into two matrices a and B of the same rank;
an initialization module (11) for initializing all elements of the matrix a and the matrix B to a specified negative number;
a mapping module (17) for mapping the trajectory of the tool in the XY plane to the matrix a and the matrix B;
the track element item acquisition module (13) is used for acquiring matrix element items of tracks passing through the matrix A and the matrix B;
the assignment module (14) is used for assigning values to the matrix A under the condition that matrix element items are equal to the appointed negative number, and directly assigning values to the matrix B;
the element item acquisition module (15) is used for moving the cutter to the appointed position of the breakpoint under the condition of occurrence of cutter breakage, and acquiring a first element item L corresponding to the matrix A a And a corresponding second element item L in the matrix B b ；
Positioning processing module (16) for at [ L ] a ，L b Calculating the distance between the track and the appointed position row by row in the corresponding area, selecting the row with the minimum distance, and recovering processing from the row, wherein the method comprises the following steps: at L a Equal to the specified negative number, then take L a The original corresponding point is used as the center to expand the searching range, and the minimum element item in the peripheral valued row number is taken as L a The method comprises the steps of carrying out a first treatment on the surface of the At L b Equal to the specified negative number, then take L b The original corresponding point is used as the center to expand the searching range, and the minimum element item in the peripheral valued row number is taken as L b 。
7. A computer device, the computer device comprising:
one or more processors (6);
memory (7) for storing one or more programs which, when executed by the one or more processors (6), cause the one or more processors (6) to implement the method of tool breakpoint resume machining according to any of claims 1 to 5.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer readable storage medium, when being executed by a processor (6), implements a method of tool breakpoint resumption machining according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111139719.XA CN113836770B (en) | 2021-09-28 | 2021-09-28 | Method, apparatus, computer device and computer readable storage medium for tool breakpoint resume processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111139719.XA CN113836770B (en) | 2021-09-28 | 2021-09-28 | Method, apparatus, computer device and computer readable storage medium for tool breakpoint resume processing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113836770A CN113836770A (en) | 2021-12-24 |
| CN113836770B true CN113836770B (en) | 2023-09-12 |
Family
ID=78970760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111139719.XA Active CN113836770B (en) | 2021-09-28 | 2021-09-28 | Method, apparatus, computer device and computer readable storage medium for tool breakpoint resume processing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113836770B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101784969A (en) * | 2007-06-22 | 2010-07-21 | 通快机床两合公司 | Method for the optimised movement co-ordination of measuring tools or machine-tools by means of redundant translatory axles |
| CN104573180A (en) * | 2014-12-02 | 2015-04-29 | 浙江工业大学 | Real-person shoe type copying device and shoe tree manufacturing method based on single-eye multi-angle-of-view robot vision |
| CN105488309A (en) * | 2016-01-21 | 2016-04-13 | 刘云涛 | Tool path reduction display method and system as well as engraving machine |
| CN109564286A (en) * | 2016-07-29 | 2019-04-02 | 特里纳米克斯股份有限公司 | Detector at least one object of optical detection |
| CN110356151A (en) * | 2019-05-28 | 2019-10-22 | 合肥晌玥科技有限公司 | A kind of automatic generation method and device in jade carving path |
| CN110449991A (en) * | 2019-09-10 | 2019-11-15 | 广州铭匠智能科技有限公司 | Anti- breaking system and its control method |
| CN110488764A (en) * | 2019-09-03 | 2019-11-22 | 内蒙古大学 | A kind of engraving machine motion controller and its engraving equipment and method based on FPGA |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016154557A1 (en) * | 2015-03-26 | 2016-09-29 | Universidade De Coimbra | Methods and systems for computer-aided surgery using intra-operative video acquired by a free moving camera |
-
2021
- 2021-09-28 CN CN202111139719.XA patent/CN113836770B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101784969A (en) * | 2007-06-22 | 2010-07-21 | 通快机床两合公司 | Method for the optimised movement co-ordination of measuring tools or machine-tools by means of redundant translatory axles |
| CN104573180A (en) * | 2014-12-02 | 2015-04-29 | 浙江工业大学 | Real-person shoe type copying device and shoe tree manufacturing method based on single-eye multi-angle-of-view robot vision |
| CN105488309A (en) * | 2016-01-21 | 2016-04-13 | 刘云涛 | Tool path reduction display method and system as well as engraving machine |
| CN109564286A (en) * | 2016-07-29 | 2019-04-02 | 特里纳米克斯股份有限公司 | Detector at least one object of optical detection |
| CN110356151A (en) * | 2019-05-28 | 2019-10-22 | 合肥晌玥科技有限公司 | A kind of automatic generation method and device in jade carving path |
| CN110488764A (en) * | 2019-09-03 | 2019-11-22 | 内蒙古大学 | A kind of engraving machine motion controller and its engraving equipment and method based on FPGA |
| CN110449991A (en) * | 2019-09-10 | 2019-11-15 | 广州铭匠智能科技有限公司 | Anti- breaking system and its control method |
Non-Patent Citations (1)
| Title |
|---|
| 仓库搬运机器人导航运动控制与NURBS轨迹规划;李航;王朝耀;;机械设计与制造(07);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113836770A (en) | 2021-12-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200338730A1 (en) | Trajectory planning device, trajectory planning method and program | |
| WO2018120210A1 (en) | Method and device for determining position information about stacking point, and robot | |
| US20170235301A1 (en) | Robot programming device for teaching robot program | |
| JP5813517B2 (en) | Machining program generation device for wire electric discharge machine | |
| US9718189B2 (en) | Robot teaching device for teaching robot offline | |
| US11945118B2 (en) | Method of planning works for robots and work planning device | |
| WO2019167650A1 (en) | Method and device for generating tool paths | |
| CN113836770B (en) | Method, apparatus, computer device and computer readable storage medium for tool breakpoint resume processing | |
| CN114179069A (en) | Automatic path correction method and system for industrial robot | |
| CN107402806B (en) | Task processing method and device of distributed file architecture | |
| CN106054812B (en) | It is capable of the numerical control device of the interference of checking tool and machined object | |
| CN113878240A (en) | Target object processing method and related equipment | |
| US11940773B2 (en) | Workpiece processing method and workpiece processing machine | |
| US20200109942A1 (en) | Arc processing device and method using the same | |
| US20200139546A1 (en) | Robotic saw and water jet control | |
| CN113449393B (en) | Array hole processing method | |
| US11086293B2 (en) | Machining program generation support device | |
| CN111055278B (en) | Robot coordinate self-positioning method and device based on VAL3 language, computer equipment and storage medium | |
| KR20160119959A (en) | Input device integrated with terminal apparatus for computerzing for equipment of semi-conductor procedure | |
| CN111837080B (en) | Tool path generation method | |
| CN109886879B (en) | Image processing method, electronic device and storage medium | |
| JP2010094794A (en) | Robot offline display device | |
| JP2004362270A (en) | Swing angle setting device and method for cutting tool and swing angle setting program for cutting tool | |
| JP5383230B2 (en) | NC data correction method and apparatus | |
| JPH0981221A (en) | Nc data preparing device and its correction data preparing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |