CN109496286A - Digital control system and its paths planning method and computer readable storage medium - Google Patents
Digital control system and its paths planning method and computer readable storage medium Download PDFInfo
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- CN109496286A CN109496286A CN201780034480.5A CN201780034480A CN109496286A CN 109496286 A CN109496286 A CN 109496286A CN 201780034480 A CN201780034480 A CN 201780034480A CN 109496286 A CN109496286 A CN 109496286A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34083—Interpolation general
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Abstract
A kind of digital control system and its paths planning method and computer readable storage medium, comprising: the cutter location set of obtaining widget machining path；According to the ratio between the path length in set between adjacent cutter location, breakpoint is determined for the concavity and convexity of machining path；If the quantity of the cutter location between adjacent breakpoint is not up to preset value；These cutter locations are set as breakpoint；Breakpoint is deleted from set, obtains target cutter location set；The discrete curvature for obtaining all cutter locations in target cutter location set, judges whether discrete curvature is more than preset curvature threshold；If it exceeds curvature threshold, corresponding cutter location is handled；All breakpoints are obtained, whether the cutter location quantity in the section formed according to breakpoint with adjacent breakpoint, which reaches preset quantity, is packaged machining path, obtains straight line-batten mixed path of machining path.The invention avoids calculation amount, the uneconomic curvature scanning process of heavy and effect, considerably reduces whole calculation amount.
Description
Technical field
The present invention relates to numerical control processing field, more particularly to digital control system and its paths planning method and computer-readable
Storage medium.
Background technique
Approaching complex-curved method using mini line segment or small arc section is current digital control system finished surface shape
The main means when component being made of free curve, Interpolator of CNC System are completed complicated using linear interpolation or circular interpolation
The numerical control processing of curved surface.Not only volume of transmitted data is big for this method, but also causes quadratic closeness error, frequent between micro- section
Acceleration and deceleration more greatly reduce processing efficiency, and parameter curve direct interpolation technology is come into being.It is more with the development of Numeric Control Technology
Item formula spline curve direct interpolation technology, Bezier curve direct interpolation technology, non-uniform rational B-spline (NURBS) interpolation skill
The various parameters curve direct interpolation technology such as art is increasingly mature, and many domestic and international digital control system manufacturers are also in the numerical control system of oneself
It joined this advanced function in system.
But existing digital control system generallys use the method building B of interpolation or least square approximation in the path planning stage
Spline curve, only the adaptive method of discrimination effect of passage path length and angle is limited, the curve obtained in some cases
It will appear the distortion for deviating considerably from track, seriously affect processing quality；Every section of path length is calculated separately after Spline Path segmentation,
For spline function, path length can only be calculated by way of numerical integration, and the computational accuracy in every section in this way path is bad really
It is fixed, if precision is excessively high, increase computation burden, if precision is too low, when interpolation, which may cause section and the joining place of section, biggish speed
Degree fluctuation；After spline curve is segmented, it can not obtain complying fully with kinematical constraint merely with the speed at waypoint
Speed planning, because even obtained accurate curvature greatly, minimum, but the variation tendency of this section of curvature might not be with speed
The trend matching of degree increase and decrease, it is possible to rate limitation curve occur and be come out with the speed planning determined according to each point with extreme curvature
Rate curve and unmatched situation.The rate curve come and the speed determined by the variation tendency of curvature are cooked up if it is desired to allowing
Restrictive curve matching is spent, then needs to be adjusted the parameters such as acceleration, it is very inconvenient.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of digital control systems and its paths planning method and computer can
Storage medium is read, avoids that calculation amount is heavy and the uneconomic curvature scanning process of effect, it is whole to reduce component processing path planning
Calculation amount.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of path of digital control system is provided
Planing method, comprising: the original cutter location set of obtaining widget machining path；By in original cutter location set and previous phase
It is default that path length between adjacent cutter location with the ratio between the path length between the adjacent cutter location of the latter meets first
The cutter location of range is determined as breakpoint, and the cutter location of the inflection point of machining path is determined as breakpoint；Judge adjacent breakpoint shape
At the quantity of cutter location in section whether reach preset quantity；If the quantity of the cutter location in the section that adjacent breakpoint is formed is not
Reach preset quantity, the cutter location between adjacent breakpoint is determined as breakpoint；Breakpoint is deleted from original cutter location set,
Obtain target cutter location set；Obtain target cutter location set in each cutter location discrete curvature, judge cutter location from
Whether non-dramatic song rate is more than preset curvature threshold；Wherein, the processing peak acceleration of curvature threshold and digital control system or processing is most
Big speed matches；It is more than the knife position of curvature threshold by discrete curvature if there is the discrete curvature for being more than the curvature threshold
Point is set as breakpoint, or on a preset condition based, to the cutter location that discrete curvature is more than the curvature threshold be formed by section into
Row processing reduction of speed processing；All breakpoints are obtained, judge whether the cutter location quantity in the section that breakpoint is formed with adjacent breakpoint reaches
To preset quantity, if reaching, default batten encapsulation is carried out to the section that cutter location quantity reaches preset quantity, it is no, then it is right
The section that cutter location quantity is not up to preset quantity carries out straight lead, and the whole straight line-batten for obtaining component processing path is mixed
It is combined diameter.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of digital control system, numerical control
System includes processor and memory, and memory is stored with program data, and processor is for executing described program data with reality
Existing following paths planning method: the original cutter location set of obtaining widget machining path；By in original cutter location set and before
Path length between one adjacent cutter location and the ratio between the path length between the adjacent cutter location of the latter meet the
The cutter location of one preset range is determined as breakpoint, and the cutter location of the inflection point of machining path is determined as breakpoint；Judge adjacent
Whether the quantity of the cutter location in the section that breakpoint is formed reaches preset quantity；If the quantity of the cutter location in the section formed does not reach
To preset quantity, the cutter location between adjacent breakpoint is determined as breakpoint；Breakpoint is deleted from original cutter location set, is obtained
To target cutter location set；The discrete curvature for obtaining each cutter location in target cutter location set, judges the discrete of cutter location
Whether curvature is more than preset curvature threshold；Wherein, the processing peak acceleration or processing of curvature threshold and digital control system are maximum
Speed matches；It is more than the cutter location of curvature threshold by discrete curvature if there is the discrete curvature for being more than the curvature threshold
It is set as breakpoint, or on a preset condition based, section is formed by the cutter location that discrete curvature is more than the curvature threshold and is carried out
Process reduction of speed processing；All breakpoints are obtained, judge whether the cutter location quantity in the section that breakpoint is formed with adjacent breakpoint reaches pre-
If quantity, if reaching, default batten encapsulation is carried out to the section that cutter location quantity reaches preset quantity, it is no, then to knife position
The section that point quantity is not up to preset quantity carries out straight lead, obtains the whole straight line-batten mixing road in component processing path
Diameter.
In order to solve the above technical problems, another technical solution that the present invention uses is: providing a kind of computer-readable Jie
Matter, the computer-readable medium storage have program data, and described program data can be performed to realize number as described above
The paths planning method of control system.
The beneficial effects of the present invention are: being in contrast to the prior art, the present invention is by introducing cutter location adjacent path
There is undesirable distortion in the judgement of length ratio and machining path concavity and convexity, the spline curve avoided.It is advised in path
The stage of drawing calculates discrete curvature and kinematic constraint curvature threshold, and the extracting section that will be greater than threshold value comes out individually processing, avoids
Be built into the way after spline curve further according to curvature to curve segmentation together, at the same avoid that calculation amount is heavy and effect without
The curvature scanning process of Ji, considerably reduces whole calculation amount.
Detailed description of the invention
Fig. 1 is the flow diagram of one embodiment of planing method of digital control system of the present invention；
Fig. 2 is the structural schematic diagram of one embodiment of digital control system of the present invention；
Fig. 3 is the structural schematic diagram of one embodiment of computer-readable medium of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment belongs to the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is the flow diagram of one embodiment of planing method of digital control system of the present invention, the present embodiment
The planing method of digital control system include the following steps:
S101: the original cutter location set of obtaining widget machining path.
Wherein, component is the various parts that can be processed by numerically-controlled machine tool.
When needing component processing into preset shape and structure, digital control system passes through computer-aided manufacturing software
(CAM) machining path of parts to be machined and the original cutter location data of the machining path are obtained, and to the original knife position
Point data is numbered according to processing sequence, wherein the processing sequence is to exist by starting cutter location to original cutter location
Sequence on machining path is successively ranked up.Original cutter location data after sequence are put into a set by digital control system,
Wherein, the original cutter location data of each of the set include the cutter location be located at it is same processing plane when coordinate.
S102: by the path length and and the latter between in original cutter location set and previous adjacent cutter location
The cutter location that the ratio between path length between adjacent cutter location meets the first preset range is determined as breakpoint, and will process road
The cutter location of the inflection point of diameter is determined as breakpoint.
In a specific implement scene, determine between in original cutter location set and previous adjacent cutter location
Path length can pass through with whether the ratio between the path length between the adjacent cutter location of the latter meets the first preset range
Following methods are realized:
By the original cutter location in set with PiIt indicates, wherein length ratio threshold value LR is arranged in i >=0max, obtain knife position
Point Pi+1With two neighboring cutter location Pi、Pi+2Between first distanceAnd second distanceJudge first distanceAnd second distanceWhether formula (1) is completely descended:If satisfied, then determining knife
Site Pi+1With two neighboring cutter location Pi、Pi+2Between first distanceAnd second distanceLength ratio meets the
One preset range, and by cutter location Pi+1It is set as breakpoint.
Judge the cutter location in above-mentioned set whether be machining path inflection point method it is as follows: obtained from above-mentioned set
The first cutter location P of continuous adjacent in machining pathi-2Coordinate (xi-2,yi-2), the second cutter location Pi-1Coordinate (xi-1,
yi-1) and third cutter location PiCoordinate (xi,yi), wherein i >=2.
The the first cutter location P that will be obtainedi-2Coordinate (xi-2,yi-2), the second cutter location Pi-1Coordinate (xi-1,yi-1) and
Third cutter location PiCoordinate (xi,yi) substitute into formula (2) obtain third cutter location PiLocation parameter ci,
Formula (2): ci=xi(yi-1-yi-2)+yi(xi-2-xi-1)-xi-2yi-1+xi-1yi-2, wherein i >=2
Obtain all original cutter location P for meeting i >=2iLocation parameter ci, will be with third cutter location PiFront and back is adjacent
The location parameter of two cutter locations is compared, if with third cutter location PiThe location parameter of two adjacent cutter locations of front and back
Meet one of numerical value to be positive, another numerical value is negative, it is determined that the third cutter location is the inflection point of machining path, and will
It is determined as breakpoint.
In above-mentioned implement scene, judge the cutter location in above-mentioned set whether be breakpoint process further include:
The cutter location of the second preset range will be exceeded in original cutter location set with the path length of next cutter location,
And the path that constitutes of adjacent with former and later two cutter location be formed by angle angle value be more than preset threshold cutter location it is true
It is set to breakpoint.
Wherein, the knife position for exceeding the second preset range with the path length of next cutter location in original cutter location set
The process that point is set as breakpoint is as follows:
Length threshold l is set according to unit type and component processing methodmaxAnd lmin, judge cutter location PiWith adjacent knife position
Point Pi+1The machining path of formationLength whether meetOrIf satisfied, then determining the knife
Site PiWith adjacent cutter location Pi+1The machining path of formationLength is more than the second preset range, and by cutter location PiIt is set as
Breakpoint.
Wherein, cutter location adjacent with former and later two composition path is formed by the angle value of angle is more than preset threshold
The process that cutter location is determined as breakpoint is as follows:
According to unit type and component processing method set angle threshold θmax, by cutter location Pi+1With with it in machining path
The adjacent cutter location P in upper front and backi、Pi+2Between machining path withWithIt indicates, andWithFor to
Amount, by vectorWithThe angle of formation is set as θi.Judge θiWhether θ is meti> θmaxIf θiMeet θi> θmax, then
By cutter location Pi+1It is set as breakpoint.
S103: judge whether the quantity of the cutter location in the section that the adjacent breakpoint is formed reaches preset quantity；If institute
The quantity for stating the cutter location in the section that adjacent breakpoint is formed is not up to the preset quantity, by the knife between the adjacent breakpoint
Site is determined as breakpoint.
To make the acceleration of the processing device of digital control system not occur interruption variation, need to make the continual curvature of machining path
Variation, therefore, the spline curve order that machining path is formed are at least 3, the spline curve order formed below with machining path
It is to be traversed to original cutter location set for 3.
In a specific implement scene, machining path is planned using 3 rank B-splines, therefore, 3 can be carried out
The cutter location quantity in the section that the adjacent breakpoint of rank B-spline fitting is formed needs at least 4.Original cutter location set is traversed, is sentenced
Whether the cutter location quantity in the section that adjacent breakpoint is formed in the set of breaking reaches preset quantity 4, if not reaching present count
Cutter location in the section of adjacent two breakpoints formation is then all set as breakpoint by amount 4.
In above-mentioned implement scene, batten of the batten order greater than 3 can be used, machining path is planned, accordingly
, cutter location preset quantity is adjusted according to batten order.
S104: the breakpoint is deleted from the original cutter location set, obtains target cutter location set.
The breakpoint determined by S102 and S103 is deleted from original cutter location set, forms target cutter location set.
S105: the curvature of each cutter location in the target cutter location set is obtained, judges the curvature of the cutter location
It whether is more than preset curvature threshold；Wherein, the processing peak acceleration or processing of the curvature threshold and the digital control system
Maximum speed matches.
In a specific implement scene, the process for obtaining the discrete curvature of the cutter location in target collection is as follows: will
First cutter location p in target collectioni-2With the second cutter location pi-1The distance between indicated with c, the second cutter location pi-1With third knife
Site piThe distance between indicated with b, the first cutter location pi-2With third cutter location piThe distance between indicated with a.According to distance
A, b, c obtain the second cutter location p by formula (3)i-1Discrete curvature,
Formula (3):Wherein i >=2.
All cutter location p for meeting i >=2 in target collection are obtained by formula (3)i-1Discrete curvature ki-1.To acquisition
Cutter location pi-1Discrete curvature ki-1It is filtered by glide filter mode.
Obtain the interpolation cycle T of digital control systems, the specified high error delta of bow, maximum centripetal acceleration AcentriMaximum accelerates
Spend Jmax, desired speed F, pass through the curvature threshold k that formula (4) obtain the digital control systemthr,
Formula (4):
By the cutter location p after filtering processingi-1Discrete curvature ki-1With the curvature threshold k of acquisitionthrIt compares, judges
Discrete curvature ki-1Whether be more than digital control system curvature threshold kthr。
S106: being more than the curvature threshold by discrete curvature if there is the discrete curvature for being more than the curvature threshold
Cutter location is set as breakpoint, or on a preset condition based, and the cutter location for being more than the curvature threshold to discrete curvature is formed by area
Between carry out processing reduction of speed processing.
In a specific implement scene, path planning is carried out using 3 rank B-splines, cutter location preset quantity is 4, such as
There is the discrete curvature more than curvature threshold in fruit, the corresponding cutter location of discrete curvature more than curvature threshold is set as breakpoint, is obtained
All breakpoints obtained by the above process are taken, and breakpoint is ranked up according to serial number, judge that the adjacent breakpoint of serial number is formed
The cutter location quantity in section whether reach preset quantity 4, if reaching preset quantity 4, area which is formed
Between carry out B-spline encapsulation, it is no, then straight lead is carried out to the section that the adjacent breakpoint is formed, the machining path after encapsulation is
For a series of straight line-B-spline mixed path.
In another specific implement scene, path planning is carried out using 3 rank B-splines, cutter location preset quantity is 4,
If there is the discrete curvature for being more than curvature threshold, and the corresponding cutter location continuous adjacent of the discrete curvature arranges, the continuous phase
The cutter location quantity of neighbour's arrangement is more than or equal to 4, then the interval fitting formed the cutter location is B-spline, and passes through formula (4)
The process velocity in the section is obtained,
Formula (4):Wherein, TsFor interpolation cycle, δ is to refer to
The high error of fixed bow, AcentriFor maximum centripetal acceleration, JmaxFor peak acceleration, F is process velocity, kthrFor curvature threshold.
S107: obtaining all breakpoints, judges whether the cutter location quantity in the section that the breakpoint is formed with adjacent breakpoint reaches
To preset quantity, if reaching, default batten encapsulation is carried out to the section that cutter location quantity reaches preset quantity, it is no, then it is right
The section that cutter location quantity is not up to preset quantity carries out straight lead, obtains the whole straight line-sample in the component processing path
Mixed path.
In a specific implement scene, path planning is carried out using 3 rank B-splines, cutter location preset quantity is 4, is obtained
All breakpoints obtained by the above process are taken, and breakpoint is ranked up according to serial number, judge that the adjacent breakpoint of serial number is formed
The cutter location quantity in section whether reach preset quantity 4, if reaching preset quantity 4, present count is reached to cutter location quantity
The section of amount carries out B-spline encapsulation, no, then the section for being not up to preset quantity to cutter location quantity carries out straight lead, encapsulation
Machining path afterwards is a series of straight line-B-spline mixed path.
In above-mentioned implement scene, batten of the batten order greater than 3 can be used, machining path is planned, accordingly
, cutter location preset quantity is adjusted according to batten order.
The beneficial effects of the present invention are: being in contrast to the prior art, the present invention is by introducing cutter location adjacent path
There is undesirable distortion in the judgement of length ratio and machining path concavity and convexity, the spline curve avoided.It is advised in path
The stage of drawing calculates discrete curvature and kinematic constraint curvature threshold, and the extracting section that will be greater than threshold value comes out individually processing, avoids
Be built into the way after spline curve further according to curvature to curve segmentation together, at the same avoid that calculation amount is heavy and effect without
The curvature scanning process of Ji, considerably reduces whole calculation amount.
Based on the same inventive concept, the present invention also provides a kind of digital control systems, referring to Fig. 2, Fig. 2 is numerical control of the present invention
The structural schematic diagram of one embodiment of system.Digital control system 20 includes processor 21, memory 22, and processor 21 couples memory
22.Memory 22 is used to execute program data when work to realize following machining path for storing program data, processor 21
Planing method:
1: the original cutter location set of obtaining widget machining path.
Wherein, component is the various parts that can be processed by numerically-controlled machine tool.
When needing component processing into preset shape and structure, processor 21 passes through computer-aided manufacturing software
(CAM) machining path of parts to be machined and the original cutter location data of the machining path are obtained, and to the original knife position
Point data is numbered according to processing sequence, wherein the processing sequence be in processor 21 by starting cutter location to original
Sequence of the cutter location on machining path is successively ranked up.Original cutter location data after sequence are put into one by processor 21
In set, wherein the original cutter location data of each of the set include the cutter location be located at it is same processing plane when
Coordinate.
2: by between in original cutter location set and previous adjacent cutter location path length with and the latter phase
The cutter location that the ratio between path length between adjacent cutter location meets the first preset range is determined as breakpoint, and by machining path
The cutter location of inflection point be determined as breakpoint.
In a specific implement scene, processor 21 determines in original cutter location set and previous adjacent knife
Whether path length between site meets the first default model with the ratio between the path length between the adjacent cutter location of the latter
Enclosing can be realized by the following method: by the original cutter location in set with PiIt indicates, wherein length ratio threshold value is arranged in i >=0
LRmax, obtain cutter location Pi+1With two neighboring cutter location Pi、Pi+2Between first distanceAnd second distance
Processor 21 judges first distanceAnd second distanceWhether formula (1) is completely descended:If satisfied, then determining cutter location Pi+1With two neighboring cutter location Pi、Pi+2Between
One distanceAnd second distanceLength ratio meets the first preset range, and by cutter location Pi+1It is set as breakpoint.
Processor 21 judge the cutter location in above-mentioned set whether be machining path inflection point process it is as follows: processor 21
The first cutter location P of the continuous adjacent in machining path is obtained from above-mentioned seti-2Coordinate (xi-2,yi-2), the second cutter location
Pi-1Coordinate (xi-1,yi-1) and third cutter location PiCoordinate (xi,yi), wherein i >=2.
The the first cutter location P that will be obtainedi-2Coordinate (xi-2,yi-2), the second cutter location Pi-1Coordinate (xi-1,yi-1) and
Third cutter location PiCoordinate (xi,yi) substitute into formula (2) obtain third cutter location PiLocation parameter ci,
Formula (2): ci=xi(yi-1-yi-2)+yi(xi-2-xi-1)-xi-2yi-1+xi-1yi-2, wherein i >=2
Processor 21 obtains all original cutter location P for meeting i >=2iLocation parameter ci, and will be with third cutter location Pi
The location parameter of two adjacent cutter locations of front and back is compared, if with third cutter location PiTwo adjacent cutter locations of front and back
Location parameter meet one of numerical value and be positive, another numerical value is negative, then processor 21 determines that the third cutter location is
The inflection point of machining path, and determine it as breakpoint.
In above-mentioned implement scene, processor 21 judges whether the cutter location in above-mentioned set is that the process of breakpoint is also wrapped
It includes:
Processor 21 will exceed the second preset range with the path length of next cutter location in original cutter location set
Cutter location, and it is more than preset threshold that the path that constitutes of adjacent with former and later two cutter location, which is formed by the angle value of angle,
Cutter location is determined as breakpoint.
Wherein, processor 21 will be preset with the path length of next cutter location beyond second in original cutter location set
The process that the cutter location of range is set as breakpoint is as follows:
Length threshold l is set according to unit type and component processing methodmaxAnd lmin, processor 21 judges cutter location PiWith
Adjacent cutter location Pi+1The machining path of formationLength whether meetOrIf satisfied, then
Processor 21 determines cutter location PiWith adjacent cutter location Pi+1The machining path of formationLength is more than the second preset range,
And by cutter location PiIt is set as breakpoint.
Wherein, the angle value that cutter location adjacent with former and later two composition path is formed by angle by processor 21 is more than pre-
If the process that the cutter location of threshold value is determined as breakpoint is as follows:
According to unit type and component processing method set angle threshold θmax, by cutter location Pi+1With with it in machining path
The adjacent cutter location P in upper front and backi、Pi+2Between machining path withWithIt indicates, andWithFor to
Amount, willWithThe angle of formation is set as θi.Processor 21 judges θiWhether θ is meti> θmaxIf θiMeet θi>
θmax, then by cutter location Pi+1It is set as breakpoint.
3: judging whether the quantity of the cutter location in the section that the adjacent breakpoint is formed reaches preset quantity；If the phase
The quantity of the cutter location in the section that adjacent breakpoint is formed is not up to the preset quantity, and the cutter location between the adjacent breakpoint is equal
It is determined as breakpoint.
To make the acceleration of the processing device of digital control system not occur interruption variation, need to make the continual curvature of machining path
Variation, therefore, the spline curve order that machining path is formed are at least 3, the spline curve order formed below with machining path
It is to be traversed to original cutter location set for 3.
In a specific implement scene, machining path is planned using 3 rank B-splines, 3 rank B samples can be carried out
The cutter location quantity in the section that the adjacent breakpoint of item fitting is formed is at least 4.Processor 21 traverses original cutter location set, judgement
Whether the cutter location quantity in the section that adjacent breakpoint is formed in the set reaches preset quantity 4.If not reaching preset quantity
4, then the cutter location in the section of adjacent two breakpoints formation is all set as breakpoint by processor 21.
In above-mentioned implement scene, batten of the batten order greater than 3 can be used, machining path is planned, accordingly
, cutter location preset quantity can also be adjusted according to batten order.
4: the breakpoint being deleted from the original cutter location set, obtains target cutter location set.
Processor 21 deletes the breakpoint determined by 2 and 3 from original cutter location set, forms target cutter location collection
It closes.
5: obtain the curvature of each cutter location in the target cutter location set, judge the cutter location curvature whether
More than preset curvature threshold；Wherein, the processing peak acceleration or processing of the curvature threshold and the digital control system are maximum
Speed matches.
In a specific implement scene, processor 21 obtains the process of the discrete curvature of the cutter location in target collection
It is as follows: by the first cutter location p in target collectioni-2With the second cutter location pi-1The distance between indicated with c, the second cutter location pi-1
With third cutter location piThe distance between indicated with b, the first cutter location pi-2With third cutter location piThe distance between indicated with a.
Processor 21 obtains the second cutter location p by formula (3) according to distance a, b, ci-1Discrete curvature,
Formula (3):Wherein i >=2.
Processor 21 obtains all cutter location p for meeting i >=2 in target collection by formula (3)i-1Discrete curvature
ki-1.The cutter location p of 21 pairs of processor acquisitionsi-1Discrete curvature ki-1It is filtered by glide filter mode.
The interpolation cycle T of the acquisition digital control system of processor 21s, the specified high error delta of bow, maximum centripetal acceleration Acentri
Peak acceleration Jmax, desired speed F, pass through the curvature threshold k that formula (4) obtain the digital control systemthr,
Formula (4):
Processor 21 is by the cutter location p after filtering processingi-1Discrete curvature ki-1With the curvature threshold k of acquisitionthrIt carries out
Comparison, judges discrete curvature ki-1Whether be more than digital control system curvature threshold kthr。
6: being more than the knife position of the curvature threshold by discrete curvature if there is the discrete curvature for being more than the curvature threshold
Point is set as breakpoint, or on a preset condition based, to the cutter location that discrete curvature is more than the curvature threshold be formed by section into
Row processing reduction of speed processing.
In a specific implement scene, path planning, therefore, the cutter location at least needed are carried out using 3 rank B-splines
Preset quantity is 4, if processor 21 determines the discrete curvature existed more than curvature threshold, processor 21 will be more than curvature threshold
The corresponding cutter location of discrete curvature be set as breakpoint.Processor 21 obtains all breakpoints obtained through the above steps, and will break
Point is ranked up according to serial number, judges whether the cutter location quantity in the section that the adjacent breakpoint of serial number is formed reaches preset quantity 4,
If reaching preset quantity 4, the section that processor 21 forms the adjacent breakpoint carries out B-spline encapsulation, no, then to the phase
The section that adjacent breakpoint is formed carries out straight lead, and the machining path after encapsulation is a series of straight line-B-spline mixing road
Diameter.
In another specific implement scene, path planning is carried out using 3 rank B-splines, cutter location preset quantity is 4,
If processor 21 determines the discrete curvature existed more than curvature threshold, and the corresponding cutter location continuous adjacent row of the discrete curvature
The cutter location quantity of column, continuous adjacent arrangement is more than or equal to 4, then the interval fitting that the cutter location is formed is by processor 21
B-spline, and pass through the process velocity that formula (4) obtain the section,
Formula (4)::Wherein, TsFor interpolation cycle, δ is
The high error of specified bow, AcentriFor maximum centripetal acceleration, JmaxFor peak acceleration, F is process velocity, kthrFor curvature threshold
Value.
7. obtaining all breakpoints, judge whether the cutter location quantity in the section that the breakpoint is formed with adjacent breakpoint reaches pre-
If quantity, if reaching, default batten encapsulation is carried out to the section that cutter location quantity reaches preset quantity, it is no, then to knife position
The section that point quantity is not up to preset quantity carries out straight lead, and the whole straight line-batten for obtaining the component processing path is mixed
It is combined diameter.
In a specific implement scene, path planning is carried out using 3 rank B-splines, cutter location preset quantity is 4, place
Reason device 21 obtains the process velocity in the section according to formula (4).Processor 21 obtains all breakpoints obtained by the above process,
And be ranked up breakpoint according to serial number, judge whether the cutter location quantity in the section that the adjacent breakpoint of serial number is formed reaches default
Quantity 4, if reaching preset quantity 4, processor 21 carries out B-spline envelope to the section for reaching preset quantity to cutter location quantity
Dress, no, then the section formed to the adjacent breakpoint carries out straight lead, and the machining path after encapsulation is a series of straight line-B
Batten mixed path.
In above-mentioned implement scene, batten of the batten order greater than 3 can be used, machining path is planned, accordingly
, cutter location preset quantity is adjusted according to batten order.
The beneficial effects of the present invention are: being in contrast to the prior art, the present invention is by introducing cutter location adjacent path
There is undesirable distortion in the judgement of length ratio and machining path concavity and convexity, the spline curve avoided.It is advised in path
The stage of drawing calculates discrete curvature and kinematic constraint curvature threshold, and the extracting section that will be greater than threshold value comes out individually processing, avoids
Be built into the way after spline curve further according to curvature to curve segmentation together, at the same avoid that calculation amount is heavy and effect without
The curvature scanning process of Ji, considerably reduces whole calculation amount.
Referring to Fig. 3, Fig. 3 is the structural schematic diagram that computer-readable medium one provided by the invention is implemented.Computer can
It reads to be stored with program data 31 in medium 30, which is at least one program or instruction, and program data 31 is for real
Existing any of the above-described method.In one embodiment, computer-readable medium can be storage chip in terminal, hard disk either
The tool of other read-write storages such as mobile hard disk or flash disk, CD, can also be server etc..
The beneficial effects of the present invention are: being in contrast to the prior art, the present invention is by introducing cutter location adjacent path
There is undesirable distortion in the judgement of length ratio and machining path concavity and convexity, the spline curve avoided.It is advised in path
The stage of drawing calculates discrete curvature and kinematic constraint curvature threshold, and the extracting section that will be greater than threshold value comes out individually processing, avoids
Be built into the way after spline curve further according to curvature to curve segmentation together, at the same avoid that calculation amount is heavy and effect without
The curvature scanning process of Ji, considerably reduces whole calculation amount.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (18)
1. a kind of paths planning method of digital control system characterized by comprising
The original cutter location set of obtaining widget machining path；
By between in the original cutter location set and previous adjacent cutter location path length with and the latter it is adjacent
Cutter location between the ratio between path length meet the cutter location of the first preset range and be determined as breakpoint, and by the processing road
The cutter location of the inflection point of diameter is determined as breakpoint；
Judge whether the quantity of the cutter location in the section that the adjacent breakpoint is formed reaches preset quantity；If the adjacent breakpoint
The quantity of the cutter location in the section of formation is not up to the preset quantity, and the cutter location between the adjacent breakpoint is determined as
Breakpoint；
The breakpoint is deleted from the original cutter location set, obtains target cutter location set；
The discrete curvature for obtaining each cutter location in the target cutter location set judges that the discrete curvature of the cutter location is
No is more than preset curvature threshold；Wherein, the processing peak acceleration of the curvature threshold and the digital control system or processing is most
Big speed matches；
If there is the discrete curvature for being more than the curvature threshold, the cutter location that discrete curvature is more than the curvature threshold is set as
Breakpoint, or on a preset condition based, section is formed by the cutter location that discrete curvature is more than the curvature threshold and is processed
Reduction of speed processing；
All breakpoints are obtained, judge whether the breakpoint and the cutter location quantity in adjacent breakpoint formation section reach preset quantity,
If reaching, default batten encapsulation is carried out to the section that cutter location quantity reaches preset quantity, it is no, then cutter location quantity is not reached
Straight lead is carried out to the section of preset quantity, obtains the whole straight line-batten mixed path in the component processing path.
2. paths planning method according to claim 1, which is characterized in that it is described will be in the original cutter location set
Path length between previous adjacent cutter location and the ratio between path length between the adjacent cutter location of the latter are full
The step of cutter location of the first preset range of foot is determined as breakpoint specifically includes:
Set scale threshold value LRmax, obtain cutter location Pi+1With two neighboring cutter location PiAnd Pi+2Between first distance
And second distance
Judge the first distanceWith the second distanceWhether following formula (1) is met:If satisfied, then by the cutter location Pi+1It is determined as breakpoint.
3. paths planning method according to claim 1, which is characterized in that the knife of the inflection point by the machining path
Site is determined as the step of breakpoint and specifically includes:
The first cutter location P of continuous adjacent is obtained from the original cutter location seti-2Coordinate (xi-2,yi-2), the second knife position
Point Pi-1Coordinate (xi-1,yi-1) and third cutter location PiCoordinate (xi,yi)；
According to the coordinate of first cutter location, the coordinate of the coordinate of second cutter location and the third cutter location, and
The third cutter location P is calculated according to formula (2)iLocation parameter ci,
Formula (2): ci=xi(yi-1-yi-2)+yi(xi-2-xi-1)-xi-2yi-1+xi-1yi-2, wherein i >=2；
By the location parameter ciThe location parameter of two cutter locations adjacent with before and after the third cutter location is compared, such as
When fruit is opposite at least one polarity in the location parameter of two adjacent cutter locations of the front and back, third knife position is determined
Point is breakpoint.
4. paths planning method according to claim 1, which is characterized in that the original knife of the obtaining widget machining path
After the step of site is gathered, whether the quantity of the cutter location in the section for judging the adjacent breakpoint formation reaches present count
Before the step of amount further include:
By the cutter location for exceeding the second preset range with the path length of next cutter location in the original cutter location set
It is determined as breakpoint, and it is more than preset threshold that cutter location adjacent with former and later two composition path, which is formed by the angle value of angle,
Cutter location be determined as breakpoint.
5. paths planning method according to claim 1, which is characterized in that obtain each in the target cutter location set
The step of discrete curvature of a cutter location, specifically includes:
Obtain the first cutter location pi-2With the second cutter location pi-1The distance between c, the second cutter location pi-1With third cutter location
piThe distance between b, the first cutter location pi-2With third cutter location piThe distance between a；
The second cutter location p is obtained by formula (3) according to described distance a, b, ci-1Discrete curvature；
Formula (3):Wherein i >=2.
6. paths planning method according to claim 1, which is characterized in that described to obtain in the target cutter location set
After the step of discrete curvature of each cutter location further include:
It is filtered by discrete curvature of the moving average filter mode to the cutter location.
7. paths planning method according to claim 1, which is characterized in that the discrete curvature of the judgement cutter location
The step of whether being more than preset curvature threshold, specifically includes:
Obtain the interpolation cycle T of the digital control systems, the specified high error delta of bow, maximum centripetal acceleration AcentriPeak acceleration
Jmax, desired speed F, pass through the curvature threshold k that formula (4) obtain the digital control systemthr,
Formula (4):
By the threshold value k of the discrete curvature Yu the curvature of each cutter location in the target cutter location setthrIt compares,
Judge the cutter location discrete curvature whether be more than the curvature threshold value kthr。
8. paths planning method according to claim 1, which is characterized in that it is described on a preset condition based, to discrete curvature
It is specific that the step of section carries out processing reduction of speed processing is formed by more than the cutter location of the curvature threshold further include:
If discrete curvature is more than the cutter location continuous adjacent of the curvature threshold, and the cutter location quantity reaches the present count
Amount, the then interval fitting formed the cutter location are batten, and the process velocity in the section is obtained by formula (4),
Formula (4):Wherein, TsFor interpolation cycle, δ is specified
Bend high error, AcentriFor maximum centripetal acceleration, JmaxFor peak acceleration, F is process velocity, kthrFor curvature threshold.
9. paths planning method according to claim 1, which is characterized in that the original knife of the obtaining widget machining path
The step of site is gathered specifically includes:
The original cutter location data of obtaining widget machining path；
The cutter location data are numbered according to processing sequence, obtain include label original cutter location set, wherein institute
State the coordinate that original cutter location set includes each cutter location.
10. a kind of digital control system, the digital control system includes processor and memory, which is characterized in that
The memory is for storing program data；The processor realizes following path rule for executing described program data
The method of drawing:
The original cutter location set of obtaining widget machining path；
By between in the original cutter location set and previous adjacent cutter location path length with and the latter it is adjacent
Cutter location between the ratio between path length meet the cutter location of the first preset range and be determined as breakpoint, and by the processing road
The cutter location of the inflection point of diameter is determined as breakpoint；Judge whether the quantity of the cutter location between the adjacent breakpoint reaches present count
Amount；It, will be between the adjacent breakpoint if the quantity of the cutter location between the adjacent breakpoint is not up to the preset quantity
Cutter location is determined as breakpoint；
The breakpoint is deleted from the original cutter location set, obtains target cutter location set；
The discrete curvature for obtaining each cutter location in the target cutter location set judges that the discrete curvature of the cutter location is
No is more than preset curvature threshold；Wherein, the processing peak acceleration of the curvature threshold and the digital control system or processing is most
Big speed matches；
If there is the discrete curvature for being more than the curvature threshold, the cutter location that discrete curvature is more than the curvature threshold is set as
Breakpoint, or on a preset condition based, section is formed by the cutter location that discrete curvature is more than the curvature threshold and is processed
Reduction of speed processing；
All breakpoints are obtained, judge whether the breakpoint and the cutter location quantity in adjacent breakpoint formation section reach preset quantity,
If reaching, default batten encapsulation is carried out to the section that cutter location quantity reaches preset quantity, it is no, then cutter location quantity is not reached
Straight lead is carried out to the section of preset quantity, obtains the whole straight line-batten mixed path in the component processing path.
11. digital control system according to claim 10, which is characterized in that the processor is specifically used for executing:
By between in the original cutter location set and previous adjacent cutter location path length with and the latter it is adjacent
Cutter location between the ratio between path length meet the step of the cutter location of the first preset range is determined as breakpoint and specifically include:
Set scale threshold value LRmax, obtain cutter location Pi+1With two neighboring cutter location PiAnd Pi+2Between first distance
And second distance
Judge the first distanceWith the second distanceWhether following formula (1) is met:If satisfied, then by the cutter location Pi+1It is determined as breakpoint.
12. digital control system according to claim 10, which is characterized in that the processor is specifically used for executing:
The step of cutter location of the inflection point of the machining path is determined as breakpoint specifically includes:
The first cutter location P of continuous adjacent is obtained from the original cutter location seti-2Coordinate (xi-2,yi-2), the second knife position
Point Pi-1Coordinate (xi-1,yi-1) and third cutter location PiCoordinate (xi,yi)；
According to the coordinate of first cutter location, the coordinate of the coordinate of second cutter location and the third cutter location, and
The third cutter location P is obtained according to formula (2)iLocation parameter ci,
Formula (2): ci=xi(yi-1-yi-2)+yi(xi-2-xi-1)-xi-2yi-1+xi-1yi-2, wherein i >=2；
By the location parameter ciThe location parameter of two cutter locations adjacent with before and after the third cutter location is compared, such as
When fruit is opposite at least one polarity in the location parameter of two adjacent cutter locations of the front and back, it is determined that the third knife
Site is breakpoint.
13. digital control system according to claim 10, which is characterized in that the processor is executing obtaining widget processing road
After the step of original cutter location set of diameter, judge whether the quantity for the cutter location that the adjacent breakpoint forms section reaches pre-
If before the step of quantity, being also used to execute:
By the cutter location for exceeding the second preset range with the path length of next cutter location in the original cutter location set
It is determined as breakpoint, and it is more than preset threshold that former and later two adjacent cutter locations, which are constituted path to be formed by the angle value of angle,
Cutter location is determined as breakpoint.
14. digital control system according to claim 10, which is characterized in that the processor is specifically used for executing:
Obtain the first cutter location pi-2With the second cutter location pi-1The distance between c, the second cutter location pi-1With third cutter location
piThe distance between b, the first cutter location pi-2With third cutter location piThe distance between a；
The second cutter location p is obtained by formula (3) according to described distance a, b, ci-1Discrete curvature；
Formula (3):Wherein i >=2.
15. digital control system according to claim 10, which is characterized in that the processor is used to execute the acquisition mesh
It is also used to execute after the step of marking the curvature of each cutter location in cutter location set, forming curvature curve:
By moving average filter mode to the discrete curvature k of the cutter locationiIt is filtered.
16. digital control system according to claim 10, which is characterized in that the processor is specifically used for executing:
Obtain the interpolation cycle T of the digital control systems, the specified high error delta of bow, maximum centripetal acceleration AcentriPeak acceleration
Jmax, desired speed F, pass through the curvature threshold k that formula (4) obtain the digital control systemthr,
Formula (4):
By the threshold value k of the discrete curvature Yu the curvature of each cutter location in the target cutter location setthrIt compares,
Judge the cutter location discrete curvature whether be more than the curvature threshold value kthr。
17. digital control system according to claim 10, which is characterized in that the processor is also used to execute:
It is described on a preset condition based, the cutter location for being more than the curvature threshold to discrete curvature is formed by section and carries out processing drop
The step of speed processing, is specific further include:
If discrete curvature is more than the cutter location continuous adjacent of the curvature threshold, and the cutter location quantity reaches the present count
Amount, the then interval fitting formed the cutter location are batten, and the process velocity in the section is obtained by formula (4),
Formula (4):Wherein, TsFor interpolation cycle, δ is specified
Bend high error, AcentriFor maximum centripetal acceleration, JmaxFor peak acceleration, F is process velocity, kthrFor curvature threshold.
18. a kind of computer readable storage medium, which is characterized in that be stored with program data, described program data can be held
It goes to realize the paths planning method of digital control system as claimed in claims 1-9.
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| PCT/CN2017/116613 WO2019113972A1 (en) | 2017-12-15 | 2017-12-15 | Numerical control system and path planning method therefor, and computer readable storage medium |
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| CN114609966B (en) * | 2022-03-11 | 2023-08-08 | 深圳数马电子技术有限公司 | Path planning method and device in numerical control grinding of cutter and computer equipment |
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| CN109496286B (en) | 2021-07-09 |
| WO2019113972A1 (en) | 2019-06-20 |
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