CN109496286B - Numerical control system, path planning method thereof and computer-readable storage medium - Google Patents
Numerical control system, path planning method thereof and computer-readable storage medium Download PDFInfo
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- 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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Abstract
A numerical control system, a path planning method thereof and a computer readable storage medium, comprising: acquiring a tool location point set of a part machining path; determining a breakpoint for the concavity and convexity of the machining path according to the length ratio of the path between the set and the adjacent tool location points; if the number of the knife location points between the adjacent breakpoints does not reach a preset value; setting the knife points as breakpoints; deleting the breakpoint from the set to obtain a target tool location set; acquiring discrete curvatures of all tool positions in a target tool position set, and judging whether the discrete curvatures exceed a preset curvature threshold value; if the curvature threshold is exceeded, processing the corresponding cutter location point; and acquiring all the breakpoints, and packaging the machining path according to whether the number of the tool location points in the interval formed by the breakpoints and the adjacent breakpoints reaches a preset number, so as to obtain the linear-spline mixed path of the machining path. The invention avoids the curvature scanning process which is heavy in calculation amount and uneconomical in effect, and greatly reduces the whole calculation amount.
Description
Technical Field
The invention relates to the field of numerical control machining, in particular to a numerical control system, a path planning method thereof and a computer readable storage medium.
Background
The method for approximating the complex curved surface by using the tiny line segment or the tiny circular arc segment is a main means when the numerical control system processes a part with a surface shape formed by a free curve at present, and the numerical control system interpolator completes the numerical control processing of the complex curved surface by using linear interpolation or circular arc interpolation. The method not only has large data transmission quantity, but also causes quadratic approximation errors, and the frequent acceleration and deceleration among micro-segments greatly reduces the processing efficiency, and the parameter curve direct interpolation technology is produced at present. With the development of numerical control technology, various parameter curve direct interpolation technologies such as a multi-term style bar curve direct interpolation technology, a Bezier curve direct interpolation technology, a non-uniform rational B spline (NURBS) interpolation technology and the like are mature day by day, and a plurality of domestic and foreign numerical control system manufacturers also add the advanced function into the numerical control systems.
However, in the path planning stage of the existing numerical control system, a B-spline curve is usually constructed by adopting an interpolation or least square approximation method, the effect is limited only by a path length and angle self-adaptive discrimination method, and the obtained curve can be distorted by obviously deviating from a track under certain conditions, so that the processing quality is seriously influenced; the path length of each section is calculated respectively after the spline path is segmented, for the spline function, the path length can only be calculated in a numerical integration mode, so that the calculation precision of each section of path is not well determined, if the precision is too high, the calculation load is increased, and if the precision is too low, the joint of the sections can have larger speed fluctuation during interpolation; after the spline curve is segmented, a speed plan completely conforming to the kinematic constraint cannot be obtained only by using the speed at the segmentation point, because even if an accurate maximum and minimum curvature is obtained, the change trend of the curvature of the segment is not necessarily matched with the trend of increasing and decreasing the speed, that is, the situation that the speed limit curve is not matched with the speed curve planned according to the speed determined by each curvature extreme point can occur. If the planned speed curve is matched with the speed limit curve determined by the change trend of the curvature, parameters such as acceleration and the like need to be adjusted, which is very inconvenient.
Disclosure of Invention
The invention mainly solves the technical problem of providing a numerical control system, a path planning method thereof and a computer readable storage medium, which avoid the curvature scanning process with heavy calculation amount and uneconomical effect and reduce the whole calculation amount of the part processing path planning.
In order to solve the technical problems, the invention adopts a technical scheme that: a path planning method of a numerical control system is provided, which comprises the following steps: acquiring an original tool location point set of a part machining path; determining a tool location point in the original tool location point set, wherein the ratio of the path length between the tool location point and the previous adjacent tool location point to the path length between the tool location point and the next adjacent tool location point meets a first preset range, and determining a tool location point of an inflection point of the machining path as a breakpoint; judging whether the number of the knife location points in the interval formed by the adjacent breakpoints reaches a preset number; if the number of the knife location points in the interval formed by the adjacent break points does not reach the preset number, determining the knife location points between the adjacent break points as the break points; deleting the breakpoint from the original tool location point set to obtain a target tool location point set; acquiring the discrete curvature of each tool location point in the target tool location point set, and judging whether the discrete curvature of the tool location point exceeds a preset curvature threshold value or not; the curvature threshold value is matched with the maximum processing acceleration or the maximum processing speed of the numerical control system; if the discrete curvature exceeding the curvature threshold exists, setting the tool location point with the discrete curvature exceeding the curvature threshold as a break point, or performing machining speed reduction treatment on an interval formed by the tool location point with the discrete curvature exceeding the curvature threshold under a preset condition; and acquiring all breakpoints, judging whether the number of tool positions in an interval formed by the breakpoints and adjacent breakpoints reaches a preset number, if so, carrying out preset spline packaging on the interval in which the number of the tool positions reaches the preset number, and if not, carrying out linear packaging on the interval in which the number of the tool positions does not reach the preset number to obtain a complete linear-spline mixed path of the part processing path.
In order to solve the technical problem, the invention adopts another technical scheme that: the numerical control system comprises a processor and a memory, wherein the memory stores program data, and the processor is used for executing the program data to realize the following path planning method: acquiring an original tool location point set of a part machining path; determining a tool location point in the original tool location point set, wherein the ratio of the path length between the tool location point and the previous adjacent tool location point to the path length between the tool location point and the next adjacent tool location point meets a first preset range, and determining a tool location point of an inflection point of the machining path as a breakpoint; judging whether the number of the knife location points in the interval formed by the adjacent breakpoints reaches a preset number; if the number of the knife location points in the formed interval does not reach the preset number, determining the knife location points between the adjacent break points as the break points; deleting the breakpoint from the original tool location point set to obtain a target tool location point set; acquiring the discrete curvature of each tool location point in the target tool location point set, and judging whether the discrete curvature of the tool location point exceeds a preset curvature threshold value or not; the curvature threshold value is matched with the maximum processing acceleration or the maximum processing speed of the numerical control system; if the discrete curvature exceeding the curvature threshold exists, setting the tool location point with the discrete curvature exceeding the curvature threshold as a break point, or performing machining speed reduction treatment on an interval formed by the tool location point with the discrete curvature exceeding the curvature threshold under a preset condition; and acquiring all breakpoints, judging whether the number of tool positions in an interval formed by the breakpoints and adjacent breakpoints reaches a preset number, if so, carrying out preset spline packaging on the interval in which the number of the tool positions reaches the preset number, and if not, carrying out straight line packaging on the interval in which the number of the tool positions does not reach the preset number to obtain a complete straight line-spline mixed path of the part processing path.
In order to solve the technical problems, the invention adopts another technical scheme that: there is provided a computer readable medium having stored program data executable to implement a path planning method of a numerical control system as described above.
The invention has the beneficial effects that: different from the situation of the prior art, the method avoids the unexpected distortion of the obtained spline curve by introducing the length proportion of the adjacent paths of the cutter location points and judging the concavity and convexity of the processing path. The discrete curvature and motion constraint curvature threshold are calculated in the path planning stage, and the part larger than the threshold is extracted and processed independently, so that the method of constructing a spline curve together and then segmenting the curve according to the curvature is avoided, the curvature scanning process with heavy calculation amount and uneconomical effect is avoided, and the whole calculation amount is greatly reduced.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a planning method for a numerical control system according to the present invention;
FIG. 2 is a schematic diagram of an embodiment of a numerical control system according to the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of a computer-readable medium of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a planning method of a numerical control system according to the present invention, and the planning method of the numerical control system of the present embodiment includes the following steps:
s101: an original tool location set of a part machining path is obtained.
Wherein, the part is various parts that can be processed through the digit control machine tool.
When the part needs to be machined into a preset shape and a preset structure, the numerical control system obtains a machining path of the part to be machined and original tool location point data of the machining path through computer aided manufacturing software (CAM), and numbers the original tool location point data according to a machining sequence, wherein the machining sequence is that the original tool location points are sequentially sequenced on the machining path from a starting tool location point. And the numerical control system puts the sorted original cutter location point data into a set, wherein each original cutter location point data in the set comprises the coordinates of the cutter location point when the cutter location point is positioned on the same machining plane.
S102: and determining the tool location point in the original tool location point set, wherein the ratio of the path length between the tool location point adjacent to the previous tool location point to the path length between the tool location point adjacent to the next tool location point meets a first preset range, and determining the tool location point of the inflection point of the machining path as the breakpoint.
In a specific implementation scenario, determining whether a ratio of a path length between a tool location point adjacent to a previous tool location point and a path length between a tool location point adjacent to a subsequent tool location point in the original tool location point set satisfies a first preset range may be implemented by:
the original knife location in the set is marked with PiIndicating that i is greater than or equal to 0, setting a length ratio threshold LRmaxObtaining a tool point Pi+1To two adjacent tool positions Pi、Pi+2First distance therebetween
And a second distance
Determining the first distance
And a second distance
Whether the following formula (1) is satisfied:
if so, determining the cutter location point Pi+1To two adjacent tool positions Pi、Pi+2First distance therebetween
And a second distance
The length ratio satisfies a first predetermined range, and the cutting position P is adjustedi+1Set to a breakpoint.
The method for judging whether the knife location point in the set is the inflection point of the machining path is as follows: obtaining the first cutting points P which are continuously adjacent in the processing path from the seti-2Coordinate (x) ofi-2,yi-2) A second cutting position Pi-1Coordinate (x) ofi-1,yi-1) To be provided withAnd a third cutting position PiCoordinate (x) ofi,yi) Wherein i is more than or equal to 2.
The obtained first knife-edge point Pi-2Coordinate (x) ofi-2,yi-2) A second cutting position Pi-1Coordinate (x) ofi-1,yi-1) And a third tool position point PiCoordinate (x) ofi,yi) Substituting the formula (2) to obtain a third tool location point PiPosition parameter c ofi，
Formula (2): c. Ci＝xi(yi-1-yi-2)+yi(xi-2-xi-1)-xi-2yi-1+xi-1yi-2Wherein i is not less than 2
Obtaining all original tool location points P satisfying that i is more than or equal to 2iPosition parameter c ofiWill be in contact with the third tool location PiComparing the position parameters of two adjacent cutter location points, if the position parameters are compared with the position parameters of the third cutter location point PiAnd if the position parameters of the two adjacent cutter location points meet the condition that one numerical value is positive and the other numerical value is negative, determining the third cutter location point as the inflection point of the machining path and determining the inflection point as a breakpoint.
In the implementation scenario, the process of determining whether the tool location in the set is a breakpoint further includes:
and determining the cutter position points, in the original cutter position point set, of which the path length with the next cutter position point exceeds a second preset range and the cutter position points of which the angle value of an included angle formed by the path formed by the cutter position points and the two adjacent cutter position points in the front and the back exceeds a preset threshold value, as break points.
The process that the knife location point with the path length of the next knife location point in the original knife location point set exceeding the second preset range is set as the breakpoint is as follows:
setting a length threshold l according to a component type and a component machining processmaxAnd lminJudging the knife location point PiTo adjacent knife location point Pi+1Formed processing path
Whether or not the length of (1) is satisfied
Or
If so, determining the knife location point PiTo adjacent knife location point Pi+1Formed processing path
The length exceeds a second preset range and the knife position point P is adjustediSet to a breakpoint.
The process of determining the knife location point as the breakpoint, wherein the knife location point, the angle value of the included angle formed by the paths formed by the front and the rear adjacent knife location points exceeds a preset threshold value, is as follows:
setting an angle threshold θ according to a part type and a part machining processmaxCutting point Pi+1And a tool position point P adjacent to the tool position point P in the front-back direction of the tool position point on the machining pathi、Pi+2In a machining path therebetween
And
is shown, and
and
as vectors, the vectors are added
And
the included angle formed is set as thetai. Determining thetaiWhether or not theta is satisfiedi>θmaxIf thetaiSatisfies thetai>θmaxThen, the knife position point P is seti+1Set to a breakpoint.
S103: judging whether the number of the knife location points in the interval formed by the adjacent breakpoints reaches a preset number; and if the number of the knife location points in the interval formed by the adjacent break points does not reach the preset number, determining the knife location points between the adjacent break points as the break points.
In order to ensure that the acceleration of a processing device of the numerical control system does not change discontinuously, the curvature of the processing path needs to change continuously, so that the order of a spline curve formed by the processing path is at least 3, and the original tool location point set is traversed by taking the example that the order of the spline curve formed by the processing path is 3.
In a specific implementation scenario, a 3-order B-spline is used to plan the machining path, and therefore, the number of tool positions of an interval formed by adjacent break points that can be subjected to 3-order B-spline fitting needs to be at least 4. Traversing the original knife location point set, judging whether the number of the knife location points in the interval formed by the adjacent break points in the set reaches a preset number 4, if not, setting the knife location points in the interval formed by the two adjacent break points as the break points.
In the implementation scenario, a spline with the spline order greater than 3 may be used to plan the machining path, and accordingly, the preset number of tool points is adjusted according to the spline order.
S104: and deleting the break point from the original knife location point set to obtain a target knife location point set.
And deleting the break points determined by the steps S102 and S103 from the original knife location set to form a target knife location set.
S105: obtaining the curvature of each cutter point in the target cutter point set, and judging whether the curvature of each cutter point exceeds a preset curvature threshold value; and the curvature threshold is matched with the maximum machining acceleration or the maximum machining speed of the numerical control system.
In a specific implementation scenario, the process of obtaining the discrete curvature of the tool location in the target set is as follows: a first knife point p in the target seti-2And a second tool position point pi-1The distance between is denoted by c, the second tool location pointpi-1And a third tool position point piThe distance between is denoted b, the first cutting point pi-2And a third tool position point piThe distance between is denoted by a. Obtaining the second tool location point p according to the distances a, b and c through a formula (3)i-1The discrete curvature of the surface of the substrate,
formula (3):
wherein i is more than or equal to 2.
Obtaining all tool location points p meeting the condition that i is more than or equal to 2 in the target set through a formula (3)i-1Discrete curvature k ofi-1. For the obtained knife location point pi-1Discrete curvature k ofi-1And performing filtering processing by a sliding filtering mode.
Obtaining interpolation period T of numerical control systemsDesignated bow height error delta, maximum centripetal acceleration AcentriMaximum acceleration JmaxObtaining a curvature threshold k of the numerical control system through a formula (4)thr，
Formula (4):
the knife location point p after the filtering processingi-1Discrete curvature k ofi-1And the obtained curvature threshold kthrComparing and judging the discrete curvature ki-1Whether the curvature threshold k of the numerical control system is exceeded or notthr。
S106: if the discrete curvature exceeding the curvature threshold exists, setting the tool location point with the discrete curvature exceeding the curvature threshold as a break point, or carrying out machining speed reduction treatment on an interval formed by the tool location point with the discrete curvature exceeding the curvature threshold under a preset condition.
In a specific implementation scene, 3-order B splines are used for path planning, the preset number of tool positions is 4, if discrete curvatures exceeding a curvature threshold exist, the tool positions corresponding to the discrete curvatures exceeding the curvature threshold are set as breakpoints, all the breakpoints obtained through the process are obtained, the breakpoints are sequenced according to sequence numbers, whether the number of the tool positions of a section formed by the breakpoints adjacent to the sequence numbers reaches the preset number 4 or not is judged, if the preset number is 4, B spline packaging is carried out on the section formed by the adjacent breakpoints, if not, straight line packaging is carried out on the section formed by the adjacent breakpoints, and the packaged processing path is a series of straight line-B spline mixed paths.
In another specific implementation scenario, a 3-order B-spline is used for path planning, the preset number of tool positions is 4, if there is a discrete curvature exceeding a curvature threshold, and the tool positions corresponding to the discrete curvature are continuously and adjacently arranged, and the number of the tool positions continuously and adjacently arranged is greater than or equal to 4, an interval formed by the tool positions is fitted to be the B-spline, and the processing speed of the interval is obtained through formula (5),
formula (5):
wherein, TsFor interpolation period, δ is the specified bow height error, AcentriMaximum centripetal acceleration, JmaxMaximum acceleration, F' machining speed, kthrIs the curvature threshold.
S107: and acquiring all breakpoints, judging whether the number of tool sites in the interval formed by the breakpoints and the adjacent breakpoints reaches the preset number, if so, performing preset spline packaging on the interval in which the number of the tool sites reaches the preset number, and if not, performing linear packaging on the interval in which the number of the tool sites does not reach the preset number to obtain a complete linear-spline mixed path of the part processing path.
In a specific implementation scene, a 3-order B-spline is used for path planning, the preset number of tool positions is 4, all breakpoints obtained through the process are obtained, the breakpoints are sequenced according to sequence numbers, whether the number of the tool positions in a section formed by the breakpoints adjacent to the sequence numbers reaches the preset number 4 or not is judged, if the preset number 4 is reached, B-spline packaging is carried out on the section where the number of the tool positions reaches the preset number, if not, straight line packaging is carried out on the section where the number of the tool positions does not reach the preset number, and the packaged processing path is a series of straight line-B-spline mixed paths.
In the implementation scenario, a spline with the spline order greater than 3 may be used to plan the machining path, and accordingly, the preset number of tool points is adjusted according to the spline order.
The invention has the beneficial effects that: different from the situation of the prior art, the method avoids the unexpected distortion of the obtained spline curve by introducing the length proportion of the adjacent paths of the cutter location points and judging the concavity and convexity of the processing path. The discrete curvature and motion constraint curvature threshold are calculated in the path planning stage, and the part larger than the threshold is extracted and processed independently, so that the method of constructing a spline curve together and then segmenting the curve according to the curvature is avoided, the curvature scanning process with heavy calculation amount and uneconomical effect is avoided, and the whole calculation amount is greatly reduced.
Based on the same inventive concept, the present invention further provides a numerical control system, please refer to fig. 2, and fig. 2 is a schematic structural diagram of an embodiment of the numerical control system of the present invention. The numerical control system 20 includes a processor 21 and a memory 22, and the processor 21 is coupled to the memory 22. The memory 22 is configured to store program data, and the processor 21 is configured to execute the program data to implement the following machining path planning method:
1, acquiring an original tool location point set of a part machining path.
Wherein, the part is various parts that can be processed through the digit control machine tool.
When the part needs to be machined into a preset shape and structure, the processor 21 obtains a machining path of the part to be machined and original tool position data of the machining path through computer aided manufacturing software (CAM), and numbers the original tool position data according to a machining sequence, wherein the machining sequence is that the original tool positions are sequentially ordered on the machining path from a starting tool position in the processor 21. The processor 21 puts the sorted original tool location point data into a set, wherein each original tool location point data in the set comprises coordinates of the tool location point in the same machining plane.
2: and determining the tool location point in the original tool location point set, wherein the ratio of the path length between the tool location point adjacent to the previous tool location point to the path length between the tool location point adjacent to the next tool location point meets a first preset range, and determining the tool location point of the inflection point of the machining path as the breakpoint.
In a specific implementation scenario, the processor 21 determines whether a ratio of a path length between a tool position adjacent to a previous tool position and a path length between a tool position adjacent to a next tool position in the original tool position set satisfies a first preset range by: the original knife location in the set is marked with PiIndicating that i is greater than or equal to 0, setting a length ratio threshold LRmaxObtaining a tool point Pi+1To two adjacent tool positions Pi、Pi+2First distance therebetween
And a second distance
The processor 21 determines the first distance
And a second distance
Whether the following formula (1) is satisfied:
if so, determining the cutter location point Pi+1To two adjacent tool positions Pi、Pi+2First distance therebetween
And a second distance
The length ratio satisfies a first predetermined range, and the cutting position P is adjustedi+1Set to a breakpoint.
The processor 21 determines whether the tool position in the set is an inflection point of the machining path as follows: the processor 21 obtains from the above set the first tool positions P consecutively adjacent in the machining pathi-2Coordinate (x) ofi-2,yi-2) A second cutting position Pi-1Coordinate (x) ofi-1,yi-1) And a third tool position point PiCoordinate (x) ofi,yi) Wherein i is more than or equal to 2.
The obtained first knife-edge point Pi-2Coordinate (x) ofi-2,yi-2) A second cutting position Pi-1Coordinate (x) ofi-1,yi-1) And a third tool position point PiCoordinate (x) ofi,yi) Substituting the formula (2) to obtain a third tool location point PiPosition parameter c ofi，
Formula (2): c. Ci＝xi(yi-1-yi-2)+yi(xi-2-xi-1)-xi-2yi-1+xi-1yi-2Wherein i is not less than 2
The processor 21 acquires all original tool location points P meeting the condition that i is more than or equal to 2iPosition parameter c ofiAnd will be aligned with the third tool location PiComparing the position parameters of two adjacent cutter location points, if the position parameters are compared with the position parameters of the third cutter location point PiIf the position parameters of the two adjacent tool positions meet the condition that one of the values is positive and the other value is negative, the processor 21 determines that the third tool position is the inflection point of the machining path and determines the third tool position as the breakpoint.
In the implementation scenario, the process of determining, by the processor 21, whether the tool location in the set is a breakpoint further includes:
the processor 21 determines the knife location point in the original knife location point set, in which the path length with the next knife location point exceeds the second preset range, and the knife location point, in which the angle value of the included angle formed by the path formed by the front and rear adjacent knife location points exceeds the preset threshold, as the breakpoint.
The process that the processor 21 sets the tool position in the original tool position set, at which the path length with the next tool position exceeds the second preset range, as the breakpoint is as follows:
according to the type of the component and the processing technique of the componentLength threshold lmaxAnd lminThe processor 21 determines the tool position PiTo adjacent knife location point Pi+1Formed processing path
Whether or not the length of (1) is satisfied
Or
If so, the processor 21 determines the tool location point PiTo adjacent knife location point Pi+1Formed processing path
The length exceeds a second preset range and the knife position point P is adjustediSet to a breakpoint.
The process that the processor 21 determines the tool location point, in which the angle value of the included angle formed by the path formed by the two adjacent tool location points before and after exceeds the preset threshold value, as the breakpoint is as follows:
setting an angle threshold θ according to a part type and a part machining processmaxCutting point Pi+1And a tool position point P adjacent to the tool position point P in the front-back direction of the tool position point on the machining pathi、Pi+2In a machining path therebetween
And
is shown, and
and
as a vector, will
And
the included angle formed is set as thetai. Processor 21 determines thetaiWhether or not theta is satisfiedi>θmaxIf thetaiSatisfies thetai>θmaxThen, the knife position point P is seti+1Set to a breakpoint.
3: judging whether the number of the knife location points in the interval formed by the adjacent breakpoints reaches a preset number; and if the number of the knife location points in the interval formed by the adjacent break points does not reach the preset number, determining the knife location points between the adjacent break points as the break points.
In order to ensure that the acceleration of a processing device of the numerical control system does not change discontinuously, the curvature of the processing path needs to change continuously, so that the order of a spline curve formed by the processing path is at least 3, and the original tool location point set is traversed by taking the example that the order of the spline curve formed by the processing path is 3.
In a specific implementation scenario, a 3-order B-spline is used to plan a machining path, and the number of tool positions in an interval formed by adjacent break points that can be subjected to 3-order B-spline fitting is at least 4. The processor 21 traverses the original knife location point set, and determines whether the number of knife location points in an interval formed by adjacent break points in the set reaches a preset number 4. If the preset number 4 is not reached, the processor 21 sets all the tool positions in the interval formed by the two adjacent break points as break points.
In the implementation scenario, a spline with the spline order greater than 3 may be used to plan the machining path, and accordingly, the preset number of tool points may also be adjusted according to the spline order.
4: and deleting the break point from the original knife location point set to obtain a target knife location point set.
The processor 21 deletes the break points determined by 2 and 3 from the original tool location set to form a target tool location set.
5: obtaining the curvature of each cutter point in the target cutter point set, and judging whether the curvature of each cutter point exceeds a preset curvature threshold value; and the curvature threshold is matched with the maximum machining acceleration or the maximum machining speed of the numerical control system.
In one specific implementation scenario, the process for the processor 21 to obtain the discrete curvature of the tool location in the target set is as follows: a first knife point p in the target seti-2And a second tool position point pi-1The distance between is denoted by c, the second tool location point pi-1And a third tool position point piThe distance between is denoted b, the first cutting point pi-2And a third tool position point piThe distance between is denoted by a. The processor 21 obtains the second tool location point p according to the distances a, b and c through the formula (3)i-1Discrete curvature of (3), formula (3):
wherein i is more than or equal to 2.
The processor 21 obtains all tool location points p satisfying i ≧ 2 in the target set by the formula (3)i-1Discrete curvature k ofi-1. The processor 21 pairs the acquired tool location point pi-1Discrete curvature k ofi-1And performing filtering processing by a sliding filtering mode.
Formula (4):
the processor 21 filters the filtered tool location point pi-1Discrete curvature k ofi-1And the obtained curvature threshold kthrComparing and judging the discrete curvature ki-1Whether the curvature threshold k of the numerical control system is exceeded or notthr。
6: if the discrete curvature exceeding the curvature threshold exists, setting the tool location point with the discrete curvature exceeding the curvature threshold as a break point, or carrying out machining speed reduction treatment on an interval formed by the tool location point with the discrete curvature exceeding the curvature threshold under a preset condition.
In a specific implementation scenario, a 3 rd order B-spline is used for path planning, so that at least the preset number of required tool positions is 4, and if the processor 21 determines that there is a discrete curvature exceeding a curvature threshold, the processor 21 sets the tool position corresponding to the discrete curvature exceeding the curvature threshold as a break point. The processor 21 obtains all the breakpoints obtained in the above steps, sequences the breakpoints according to the serial numbers, and judges whether the number of the tool points in the interval formed by the breakpoints adjacent to the serial numbers reaches a preset number 4, if the number reaches the preset number 4, the processor 21 performs B spline packaging on the interval formed by the adjacent breakpoints, otherwise, performs linear packaging on the interval formed by the adjacent breakpoints, and the packaged processing path is a series of linear-B spline mixed paths.
In another specific implementation scenario, a 3 rd order B-spline is used for path planning, the preset number of tool positions is 4, if the processor 21 determines that there is a discrete curvature exceeding a curvature threshold, and tool positions corresponding to the discrete curvature are continuously and adjacently arranged, and the number of tool positions in the continuous and adjacent arrangement is greater than or equal to 4, the processor 21 fits an interval formed by the tool positions to the B-spline, and obtains a processing speed of the interval through formula (5),
formula (5):
wherein, TsFor interpolation period, δ is the specified bow height error, AcentriMaximum centripetal acceleration, JmaxMaximum acceleration, F' machining speed, kthrIs the curvature threshold.
7: and acquiring all breakpoints, judging whether the number of tool sites in the interval formed by the breakpoints and the adjacent breakpoints reaches the preset number, if so, performing preset spline packaging on the interval in which the number of the tool sites reaches the preset number, and if not, performing linear packaging on the interval in which the number of the tool sites does not reach the preset number to obtain a complete linear-spline mixed path of the part processing path.
In a specific implementation scenario, a 3 rd order B-spline is used for path planning, the preset number of tool positions is 4, and the processor 21 obtains the processing speed in the interval according to the formula (4). The processor 21 obtains all the breakpoints obtained through the above process, sorts the breakpoints according to the serial numbers, and determines whether the number of the tool points in the interval formed by the breakpoints adjacent to the serial numbers reaches a preset number 4, if the number reaches the preset number 4, the processor 21 performs B-spline encapsulation on the interval in which the number of the tool points reaches the preset number, otherwise, performs linear encapsulation on the interval formed by the adjacent breakpoints, and the encapsulated processing path is a series of linear-B-spline mixed paths.
In the implementation scenario, a spline with the spline order greater than 3 may be used to plan the machining path, and accordingly, the preset number of tool points is adjusted according to the spline order.
The invention has the beneficial effects that: different from the situation of the prior art, the method avoids the unexpected distortion of the obtained spline curve by introducing the length proportion of the adjacent paths of the cutter location points and judging the concavity and convexity of the processing path. The discrete curvature and motion constraint curvature threshold are calculated in the path planning stage, and the part larger than the threshold is extracted and processed independently, so that the method of constructing a spline curve together and then segmenting the curve according to the curvature is avoided, the curvature scanning process with heavy calculation amount and uneconomical effect is avoided, and the whole calculation amount is greatly reduced.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a computer-readable medium according to the present invention. The computer readable medium 30 has stored therein program data 31, the program data 31 being at least one program or instruction, the program data 31 being for implementing any of the methods described above. In one embodiment, the computer readable medium may be a memory chip in the terminal, a hard disk, or other readable and writable storage tool such as a removable hard disk or a flash drive, an optical disk, or the like, or may be a server, or the like.
The invention has the beneficial effects that: different from the situation of the prior art, the method avoids the unexpected distortion of the obtained spline curve by introducing the length proportion of the adjacent paths of the cutter location points and judging the concavity and convexity of the processing path. The discrete curvature and motion constraint curvature threshold are calculated in the path planning stage, and the part larger than the threshold is extracted and processed independently, so that the method of constructing a spline curve together and then segmenting the curve according to the curvature is avoided, the curvature scanning process with heavy calculation amount and uneconomical effect is avoided, and the whole calculation amount is greatly reduced.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (18)
1. A path planning method of a numerical control system is characterized by comprising the following steps:
acquiring an original tool location point set of a part machining path;
determining a tool location point in the original tool location point set, wherein the ratio of the path length between the tool location point adjacent to the former to the path length between the tool location point adjacent to the latter in the original tool location point set meets a first preset range, and determining a tool location point of an inflection point of the machining path as a breakpoint;
judging whether the number of the knife location points in the interval formed by the adjacent breakpoints reaches a preset number; if the number of the knife location points in the interval formed by the adjacent break points does not reach the preset number, determining the knife location points between the adjacent break points as the break points;
deleting the breakpoint from the original tool location point set to obtain a target tool location point set;
acquiring the discrete curvature of each tool location point in the target tool location point set, and judging whether the discrete curvature of the tool location point exceeds a preset curvature threshold value; the curvature threshold is matched with the maximum machining acceleration or the maximum machining speed of the numerical control system;
if the discrete curvature exceeding the curvature threshold exists, setting the tool location point with the discrete curvature exceeding the curvature threshold as a break point, or performing machining speed reduction treatment on an interval formed by the tool location point with the discrete curvature exceeding the curvature threshold under a preset condition;
and acquiring all breakpoints, judging whether the number of tool sites in the interval formed by the breakpoints and the adjacent breakpoints reaches the preset number, if so, performing preset spline packaging on the interval in which the number of the tool sites reaches the preset number, and if not, performing linear packaging on the interval in which the number of the tool sites does not reach the preset number to obtain a complete linear-spline mixed path of the part processing path.
2. The path planning method according to claim 1, wherein the step of determining, as the break point, the tool location point in the original tool location point set for which the ratio of the path length between the tool location point adjacent to the previous one and the path length between the tool location point adjacent to the next one satisfies a first preset range specifically includes:
setting the proportional threshold LRmaxObtaining a tool point Pi+1To two adjacent tool positions PiAnd Pi+2First distance therebetween
And a second distance
Judging the first distance
And the second distance
Whether the following formula (1) is satisfied:
if so, the cutter position point P is determinedi+1Is determined to be a breakpoint.
3. The path planning method according to claim 1, wherein the step of determining a tool location point of an inflection point of the machining path as a breakpoint specifically includes:
obtaining continuous adjacent first knife position points P from the original knife position point seti-2Coordinate (x) ofi-2,yi-2) A second cutting position Pi-1Coordinate (x) ofi-1,yi-1) And a third tool position point PiCoordinate (x) ofi,yi)；
Calculating to obtain the third tool location point P according to the coordinate of the first tool location point, the coordinate of the second tool location point and the coordinate of the third tool location point and the formula (2)iThe location parameter ci of (a) is,
formula (2): c. Ci＝xi(yi-1-yi-2)+yi(xi-2-xi-1)-xi-2yi-1+xi-1yi-2Wherein i is more than or equal to 2;
the position parameter c is measurediAnd comparing the position parameters with the position parameters of the two cutter positions which are adjacent to each other in front and back of the third cutter position, and determining the third cutter position as a breakpoint if at least one polarity of the position parameters of the two cutter positions which are adjacent to each other in front and back is opposite.
4. The path planning method according to claim 1, wherein after the step of obtaining the original set of tool positions of the part machining path, the step of determining whether the number of tool positions in the interval formed by the adjacent break points reaches a preset number further comprises:
and determining the knife location point, in the original knife location point set, of which the path length with the next knife location point exceeds a second preset range as a breakpoint, and determining the knife location point, of which the included angle value of the path formed by the knife location points with the front adjacent knife location point and the back adjacent knife location point exceeds a preset threshold value, as the breakpoint.
5. The path planning method according to claim 1, wherein the step of obtaining the discrete curvature of each tool location point in the set of target tool location points specifically comprises:
obtaining a first knife point pi-2And a second tool position point pi-1C, second tool location point pi-1And a third tool position point piDistance b between, first knife-edge point pi-2And a third tool position point piThe distance a therebetween;
obtaining the second tool location point p according to the distances a, b and c through a formula (3)i-1Discrete curvatures of (a);
formula (3):
wherein i is more than or equal to 2.
6. The path planning method according to claim 1, wherein the step of obtaining the discrete curvature of each tool location point in the target set of tool location points further comprises:
and carrying out filtering processing on the discrete curvature of the tool location point in a moving average filtering mode.
7. The path planning method according to claim 1, wherein the step of determining whether the discrete curvature of the tool location point exceeds a preset curvature threshold specifically comprises:
obtaining an interpolation period T of the numerical control systemsDesignated bow height error delta, maximum centripetal acceleration AcentriMaximum acceleration JmaxObtaining a curvature threshold k of the numerical control system through a formula (4)thr，
Formula (4):
calculating a discrete curvature of each tool location point in the target tool location point set and a threshold k of the curvaturethrComparing, and judging whether the discrete curvature of the cutter location point exceeds the threshold k of the curvaturethr。
8. The path planning method according to claim 1, wherein the step of performing processing speed reduction processing on an interval formed by tool positions with discrete curvatures exceeding the curvature threshold under a preset condition further includes:
if the tool location points with the discrete curvatures exceeding the curvature threshold value are continuously adjacent and the number of the tool location points reaches the preset number, fitting the interval formed by the tool location points into a spline, and obtaining the processing speed of the interval through a formula (5),
formula (5):
wherein, TsFor interpolation period, δ is the specified bow height error, AcentriMaximum centripetal acceleration, JmaxMaximum acceleration, F' machining speed, kthrIs the curvature threshold.
9. The path planning method according to claim 1, wherein the step of obtaining the original tool location set of the component machining path specifically comprises:
acquiring original cutter position point data of a part machining path;
and numbering the cutter location point data according to a processing sequence to obtain an original cutter location point set comprising a label, wherein the original cutter location point set comprises the coordinates of each cutter location point.
10. A numerical control system comprises a processor and a memory and is characterized in that,
the memory is used for storing program data; the processor is configured to execute the program data to implement the following path planning method:
acquiring an original tool location point set of a part machining path;
determining a tool location point in the original tool location point set, wherein the ratio of the path length between the tool location point adjacent to the former to the path length between the tool location point adjacent to the latter in the original tool location point set meets a first preset range, and determining a tool location point of an inflection point of the machining path as a breakpoint;
judging whether the number of the knife location points between the adjacent break points reaches a preset number; if the number of the knife location points between the adjacent break points does not reach the preset number, determining the knife location points between the adjacent break points as the break points;
deleting the breakpoint from the original tool location point set to obtain a target tool location point set;
acquiring the discrete curvature of each tool location point in the target tool location point set, and judging whether the discrete curvature of the tool location point exceeds a preset curvature threshold value; the curvature threshold is matched with the maximum machining acceleration or the maximum machining speed of the numerical control system;
if the discrete curvature exceeding the curvature threshold exists, setting the tool location point with the discrete curvature exceeding the curvature threshold as a break point, or performing machining speed reduction treatment on an interval formed by the tool location point with the discrete curvature exceeding the curvature threshold under a preset condition;
and acquiring all breakpoints, judging whether the number of tool sites in the interval formed by the breakpoints and the adjacent breakpoints reaches the preset number, if so, performing preset spline packaging on the interval in which the number of the tool sites reaches the preset number, and if not, performing linear packaging on the interval in which the number of the tool sites does not reach the preset number to obtain a complete linear-spline mixed path of the part processing path.
11. The numerical control system of claim 10, wherein the processor is specifically configured to perform:
the step of determining, as a breakpoint, a tool location point in the original tool location point set, where a ratio of a path length between the tool location point adjacent to the previous tool location point and a path length between the tool location point adjacent to the subsequent tool location point satisfies a first preset range, specifically includes:
setting the proportional threshold LRmaxObtaining a tool point Pi+1To two adjacent tool positions PiAnd Pi+2First distance therebetween
And a second distance
Judging the first distance
And the second distance
Whether the following formula (1) is satisfied:
if so, the cutter position point P is determinedi+1Is determined to be a breakpoint.
12. The numerical control system of claim 10, wherein the processor is specifically configured to perform:
the step of determining the tool location point of the inflection point of the machining path as a breakpoint specifically comprises the following steps:
obtaining continuous adjacent first knife position points P from the original knife position point seti-2Coordinate (x) ofi-2,yi-2) A second cutting position Pi-1Coordinate (x) ofi-1,yi-1) And a third tool position point PiCoordinate (x) ofi,yi)；
Obtaining the third tool location point P according to the coordinate of the first tool location point, the coordinate of the second tool location point and the coordinate of the third tool location point and a formula (2)iThe location parameter ci of (a) is,
formula (2): c. Ci＝xi(yi-1-yi-2)+yi(xi-2-xi-1)-xi-2yi-1+xi-1yi-2Wherein i is more than or equal to 2;
the position parameter c is measurediTwo adjacent to the front and the back of the third knife location pointAnd comparing the position parameters of the cutter positions, and if the polarity of the position parameters of the cutter positions is opposite to that of at least one of the position parameters of the two adjacent cutter positions, determining that the third cutter position is a breakpoint.
13. The numerical control system according to claim 10, wherein the processor is further configured to, after the step of obtaining the original set of tool positions of the part machining path and before the step of determining whether the number of tool positions of the adjacent breakpoint formation interval reaches a preset number, perform:
and determining the knife location point, in the original knife location point set, of which the path length with the next knife location point exceeds a second preset range as a breakpoint, and determining the knife location point of which the angle value of an included angle formed by the paths formed by the front and the rear adjacent knife location points exceeds a preset threshold value as the breakpoint.
14. The numerical control system of claim 10, wherein the processor is specifically configured to perform:
obtaining a first knife point pi-2And a second tool position point pi-1C, second tool location point pi-1And a third tool position point piDistance b between, first knife-edge point pi-2And a third tool position point piThe distance a therebetween;
obtaining the second tool location point p according to the distances a, b and c through a formula (3)i-1Discrete curvatures of (a);
formula (3):
wherein i is more than or equal to 2.
15. The numerical control system of claim 10, wherein the processor is further configured to, after performing the step of obtaining the curvature of each of the set of target tool locations and forming the curvature curve, perform:
discrete curvature k of the tool location point by means of moving average filteringiTo carry outAnd (5) filtering.
16. The numerical control system of claim 10, wherein the processor is specifically configured to perform:
obtaining an interpolation period T of the numerical control systemsDesignated bow height error delta, maximum centripetal acceleration AcentriMaximum acceleration JmaxObtaining a curvature threshold k of the numerical control system through a formula (4)thr，
Formula (4):
calculating a discrete curvature of each tool location point in the target tool location point set and a threshold k of the curvaturethrComparing, and judging whether the discrete curvature of the cutter location point exceeds the threshold k of the curvaturethr。
17. The numerical control system of claim 10, wherein the processor is further configured to perform:
the step of performing machining speed reduction processing on an interval formed by the tool location point with the discrete curvature exceeding the curvature threshold under the preset condition specifically comprises the following steps:
if the tool location points with the discrete curvatures exceeding the curvature threshold value are continuously adjacent and the number of the tool location points reaches the preset number, fitting the interval formed by the tool location points into a spline, and obtaining the processing speed of the interval through a formula (5),
formula (5):
wherein, TsFor interpolation period, δ is the specified bow height error, AcentriMaximum centripetal acceleration, JmaxMaximum acceleration, F' machining speed, kthrIs the curvature threshold.
18. A computer-readable storage medium, characterized in that program data are stored, which program data can be executed to implement a path planning method of a numerical control system according to claims 1-9.
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| CN112650147B (en) * | 2020-12-28 | 2023-11-28 | 深圳数马电子技术有限公司 | Maximum speed parameter limiting method and device under curvature limitation |
| CN112947295B (en) * | 2021-03-03 | 2022-08-05 | 湘潭大学 | Method for dividing intervals based on spline cutter track curvature |
| 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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