CN111539074A - Workpiece processing data processing method and device - Google Patents
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Abstract
The embodiment of the invention provides a workpiece processing data processing method and a device, wherein the method is applied to a numerical control processing system, and comprises the following steps: clamping a workpiece to be processed in a machine tool; determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under the machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; and processing the workpiece clamped in the machine tool according to the second processing data. The method can conveniently correct the processing data of the workpiece with any shape, and has high correction precision.
Description
Technical Field
The invention relates to the technical field of numerical control machining, in particular to a method and a device for processing workpiece machining data.
Background
With the development of modern manufacturing technology and computer technology, intelligent numerical control machining has gained a great deal of development, and the main types report the types of numerical control lathes, numerical control milling machines, numerical control drilling machines and the like, and numerical control machining is an effective way for solving the problems of variable part varieties, complex shapes, high precision requirements and the like and high-level new automation machining. In order to improve the precision of data processing as much as possible, the precision prompt can be mainly provided for mechanical and automatic control directions, however, the numerical control processing is always performed around how to process the workpiece, and therefore, how to ensure the clamping precision of the workpiece to be processed is the basis for ensuring other precision improving modes.
The workpiece processing data correction method commonly used in the numerical control processing process mainly comprises dead positioning, cutter bar positioning, special fixture positioning and line drawing positioning methods, however, the methods are complex in operation and low in precision when processing data of some workpieces with complex shapes are corrected.
Disclosure of Invention
In view of the above-mentioned prior art problems, the present invention has been made to provide a workpiece processing data processing method and apparatus that overcomes or at least partially solves the above-mentioned problems.
According to one aspect of the invention, a workpiece processing data processing method is provided, and the method is applied to a numerical control processing system, wherein the method comprises the following steps:
clamping a workpiece to be processed in a machine tool;
determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece;
scanning the workpiece to obtain N first point cloud data sets, wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and a position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1;
placing the three-dimensional model of the workpiece under the machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model;
determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data;
performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data;
and processing the workpiece clamped in the machine tool according to the second processing data.
Preferably, the step of scanning the workpiece to obtain N first point cloud data sets includes:
when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module, arranging a cube positioning block on the workpiece; determining a positioning block coordinate system based on the position relation between the vertex and the edge of the cube positioning block;
and scanning the surface of the workpiece, and converting the cloud point data obtained by scanning into a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
Preferably, the step of scanning the workpiece to obtain N first point cloud data sets includes:
when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module, a plurality of cube positioning blocks are arranged on the workpiece according to a preset rule;
for each cube positioning block, determining a positioning block coordinate system corresponding to the cube positioning block based on the position relation between any vertex of the cube positioning block and three edges connected with the vertex; scanning the surface of the workpiece, converting point cloud data obtained by scanning to a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data;
and correspondingly storing the first point cloud data corresponding to the cube positioning blocks and the position relation between the positioning block coordinate system and the machine tool coordinate system for each cube positioning block.
Preferably, the step of determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data includes:
for each first point cloud data set, based on the position relation between a positioning block coordinate system and a machine tool coordinate system contained in the first point cloud set, converting the position of first point cloud data contained in the first point cloud data set to be below the machine tool coordinate system to obtain third point cloud data;
merging the cloud data of the third points; merging the second point cloud data;
and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
Preferably, the step of performing data transformation on the first processed data according to the position transformation matrix to obtain second processed data includes:
calculating a product of the first processing data and the position transformation matrix;
the product is determined as second machining data.
According to another aspect of the present invention, there is provided a workpiece processing data processing apparatus applied to a numerical control processing system, wherein the apparatus comprises: the fixing module is used for clamping a workpiece to be machined in the machine tool; a first determination module for determining a three-dimensional model of the workpiece, a machine coordinate system and first machining data of the workpiece; the scanning module is used for scanning the workpiece to obtain N first point cloud data sets, wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and a position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1; the dispersion module is used for placing the three-dimensional model of the workpiece under the machine tool coordinate system and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model; a transformation matrix determining module, configured to determine a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; the second determining module is used for carrying out data transformation on the first processing data according to the position transformation matrix to obtain second processing data; and the operation module is used for processing the workpiece clamped in the machine tool according to the second processing data.
Preferably, the scanning module includes:
the first sub-module is used for setting a cube positioning block on the workpiece when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module; the second sub-module is used for determining a positioning block coordinate system based on the position relation between the top point and the side of the cube positioning block;
and the third sub-module is used for scanning the surface of the workpiece, converting the point cloud data obtained by scanning into the positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
Preferably, the scanning module includes:
the fourth sub-module is used for arranging a plurality of cube positioning blocks on the workpiece according to a preset rule when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module;
a fifth sub-module, configured to determine, for each of the cube positioning blocks, a positioning block coordinate system corresponding to the cube positioning block based on a positional relationship between any vertex of the cube positioning block and three edges connected to the vertex; scanning the surface of the workpiece, converting cloud point data obtained by scanning into a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data;
and the sixth submodule is used for correspondingly storing the first point cloud data corresponding to the cube positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system aiming at each cube positioning block.
Preferably, the transformation matrix determining module includes:
the transformation submodule is used for transforming the position of the first point cloud data contained in the first point cloud data set to be under the machine tool coordinate system based on the position relation between the positioning block coordinate system contained in the first point cloud set and the machine tool coordinate system to obtain third point cloud data;
the registration submodule is used for merging the cloud data of the third points; merging the second point cloud data; and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
Preferably, the second determining module includes:
the calculation submodule is used for calculating the product of the first processing data and the position transformation matrix;
and the determining submodule is used for determining the product as second machining data.
According to still another aspect of the present invention, there is provided a computer apparatus including: the computer program may be a computer program stored on a memory and executable on a processor, wherein the processor when executing the program implements any one of the workpiece processing data processing methods described in embodiments of the present invention.
According to a further aspect of the present invention there is provided a memory unit having stored thereon a computer program for execution by a processor of any one of the workpiece processing data processing methods as described in embodiments of the present invention.
According to the workpiece processing data processing scheme provided by the embodiment of the invention, a workpiece to be processed is clamped in a machine tool; determining a three-dimensional model of a workpiece, a machine tool coordinate system and first machining path data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; according to the second machining data, the workpiece clamped in the machine tool is machined, the machining data of the workpiece in any shape can be corrected conveniently, and the correction precision is high.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a flowchart illustrating steps of a method for processing workpiece processing data according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a workpiece clamping position;
FIG. 3 is a flowchart illustrating steps of a method for processing workpiece processing data according to a second embodiment of the present invention;
FIG. 4 is a schematic view of workpiece scan data;
FIG. 5 is a schematic diagram of three-dimensional model discrete data;
FIG. 6 is a schematic diagram of registered three-dimensional model discrete data and workpiece scan data;
fig. 7 is a block diagram showing a configuration of a workpiece processing data processing apparatus according to a third embodiment of the present invention;
FIG. 8 is a block diagram schematically illustrating a computing device for executing the workpiece processing data processing method of the present invention; and
fig. 9 schematically shows a computer-readable storage unit for holding or carrying program code for implementing a workpiece processing data processing method according to the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example one
Referring to fig. 1, a flowchart illustrating steps of a method for processing workpiece processing data according to a first embodiment of the present invention is shown.
The workpiece processing data processing method in the embodiment of the invention comprises the following steps:
step 101: and clamping the workpiece to be processed in the machine tool.
The processing data processing method provided by the embodiment of the invention is applied to a numerical control processing system, and the purpose of improving the processing precision of the workpiece is achieved by correcting the processing data of the workpiece to be processed clamped on a machine tool. The machine tool may be a numerically controlled machine tool. The schematic view of the workpiece clamping position is shown in fig. 2.
The workpiece to be processed can be a workpiece with any appropriate shape, and the shape of the workpiece can be a regular shape or an irregular shape.
Step 102: a three-dimensional model of the workpiece, a machine tool coordinate system, and first machining data of the workpiece are determined.
The machine coordinate system can be arranged at any suitable position of the machine tool, and the arrangement position of the machine coordinate system is selected to be convenient for determining the position of the workpiece in the machine coordinate system. The machine tool coordinate system is a three-dimensional coordinate system.
An exemplary machine tool coordinate system is shown in fig. 2, the machine tool coordinate system may be set at the upper left corner of the machine tool, the long and wide sides of the machine tool are the X axis and the Y axis of the machine tool coordinate system, respectively, and the direction perpendicular to the plane formed by the X axis and the Y axis is the Z axis.
After the three-dimensional model of the workpiece is determined, first machining path data, which is workpiece machining path data of the three-dimensional model of the workpiece in the machine coordinate system, may be obtained using commercial CAM (computer Aided Manufacturing) software.
Step 103: and scanning the workpiece to obtain N first point cloud data sets.
Wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and a machine tool coordinate system; n is an integer greater than or equal to 1.
The size and shape complexity of the workpiece determine the value of N. The larger the workpiece, the more complex the shape, and the larger the value of N.
Step 104: and placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data.
The target surface is each surface corresponding to the surface to be processed of the workpiece in the three-dimensional model.
The discrete second point cloud data and the first point cloud data obtained by scanning the workpiece correspond to the same position or a close position in the workpiece.
Step 105: and determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data.
Because the first point cloud data of the scanned workpiece is obtained under the coordinate system of the positioning block, when the position transformation matrix is determined, the first point cloud data obtained by scanning the workpiece needs to be converted into the coordinate system of the machine tool, and then the position error between the converted point cloud data and the second point cloud data determines the position transformation matrix.
Step 106: and performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data.
Step 107: and processing the workpiece clamped in the machine tool according to the second processing data.
And processing the workpiece according to the corrected second processing data, so that the problem of clamping errors generated in the clamping process can be solved.
The workpiece processing data processing method provided by the embodiment of the invention is characterized in that a workpiece to be processed is clamped in a machine tool; determining a three-dimensional model of a workpiece, a machine tool coordinate system and first machining data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; according to the second machining data, the workpiece clamped in the machine tool is machined, the machining data of the workpiece in any shape can be corrected conveniently, and the correction precision is high.
Example two
Referring to fig. 3, a flowchart illustrating steps of a method for processing workpiece processing data according to a second embodiment of the present invention is shown.
The workpiece processing data processing method provided by the embodiment of the invention specifically comprises the following steps:
step 201: and clamping the workpiece to be processed in the machine tool.
The machine tool can be a numerical control machine tool, and a workpiece needs to be roughly positioned and clamped on the machine tool before being machined. After the final machining data is determined, the workpiece is machined according to the determined machining data.
Step 202: a three-dimensional model of the workpiece, a machine tool coordinate system, and first machining data of the workpiece are determined.
The first processing data is data before correction, and a specific manner of determining the coordinate system of the machine tool and the first processing data of the workpiece may be as follows, which is not described in detail in the first embodiment of the present invention.
Step 203: and scanning the workpiece to obtain N first point cloud data sets.
Wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and a machine tool coordinate system; n is an integer greater than or equal to 1. The schematic diagram of the workpiece scanning data is shown in fig. 4, after the workpiece is scanned, the cloud point data obtained by scanning is converted into a positioning block coordinate system, and N first cloud point data can be obtained. As shown in fig. 4, when a workpiece is scanned, a scanning positioning block, that is, a cube positioning block described later, is set, a positioning block coordinate system of the positioning block is determined, and after the workpiece is scanned, first point cloud data in the positioning block coordinate system, that is, workpiece scanning data shown in fig. 4, is output. Fig. 4 is a diagram illustrating workpiece scan data as a single first point cloud data.
In the specific implementation process, the workpiece can be scanned by the scanner,first point cloud data of the workpiece are obtained, and a scanning method can be determined according to the size of the workpiece during specific scanning. When a workpiece to be machined is small, the workpiece is in a scanning range of a scanner, so that the upper surface and the periphery of the workpiece can be scanned to obtain first point cloud data D, a cube positioning block can be arranged at the workpiece during scanning, a vertex of the cube positioning block is used as an origin of a coordinate system, three edges connected with the vertex are respectively used as an X axis, a Y axis and a Z axis of the coordinate system to form a positioning block coordinate system, and the first point cloud data under the positioning block coordinate system can be output during output and the relation M between the positioning block coordinate system and a machine tool coordinate system can be recorded. When the workpiece to be processed is larger, the workpiece is not in a scanning range of the scanner, and at the moment, a plurality of special positions of the workpiece can be selected to be respectively scanned to obtain a plurality of first point cloud data D1～DnDuring scanning, a cube positioning block is required to be arranged at each special position of a workpiece, first point cloud data under each positioning block coordinate system is output during output, and the relation M between each positioning block coordinate system and a machine tool coordinate system is recorded1～Mn。
One way to optionally scan the workpiece and obtain N first point cloud data sets is;
when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module, arranging a cube positioning block on the workpiece; determining a positioning block coordinate system based on the position relation between any vertex of the cube positioning block and three edges connected with the vertex; scanning the surface of the workpiece, and converting the cloud point data obtained by scanning into a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
When the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module, a plurality of cube positioning blocks are arranged on the workpiece according to a preset rule; for each cube positioning block, determining a positioning block coordinate system corresponding to the cube positioning block based on the position relation between any vertex of the cube positioning block and three edges connected with the vertex; scanning the surface of the workpiece, converting point cloud data obtained by scanning into a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data; and correspondingly storing the first point cloud data corresponding to the cube positioning blocks and the position relation between the positioning block coordinate system and the machine tool coordinate system for each cube positioning block.
Step 204: and placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data.
The target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model. The schematic diagram of discrete data of the three-dimensional model of the workpiece is shown in fig. 5, the schematic diagram of discrete data includes N discrete second point cloud data, the second point cloud data is data in a machine tool coordinate system, and the discrete data shown in fig. 5 is single second point cloud data.
Placing a three-dimensional model of a workpiece to be processed under a machine tool coordinate system, selecting a corresponding surface in the workpiece to be processed in the three-dimensional model according to the scanning position of the workpiece when the workpiece is scanned, and dispersing the selected corresponding surface into second point cloud data DdisAnd enabling the second point cloud data obtained through dispersion and the first point cloud data obtained through scanning of the workpiece to belong to the same position as much as possible, wherein the number of the second point cloud data is consistent with that of the first point cloud data obtained through scanning of the workpiece to be processed by the scanner as much as possible.
Step 205: and determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data.
Because the output scanning workpiece point cloud data is in the positioning block coordinate system, the scanning workpiece point cloud needs to be converted into the machine tool coordinate system. When only one first point cloud data of the workpiece to be processed is available, the positioning block coordinate system and the machine tool coordinate system M can be directly used for transforming the position of the first point cloud data to the machine tool coordinate system to obtain third point cloud data Dnew＝M*D。
When a workpiece to be machined has a plurality of first point cloud data, a positioning block coordinate system and a machine tool coordinate system M are required to be used respectively1～MnPerforming position transformation to obtain third point cloud data D corresponding to each first point cloud data under the machine tool coordinate system(new1～newn)＝M(1～n)*D(1～n)Then a plurality of the position-converted onesMerging the third point clouds into a point cloud data Dmerge. Obtaining each second point cloud data D by three-dimensional model dispersion under machine tool coordinate systemdisAnd each third point cloud data D after the position changenewOr merged point cloud data DmergeThe position of the workpiece to be machined can be found to have a position error, the position error is a clamping error generated in the actual clamping process of the workpiece to be machined, and in order to obtain the position error, the position of the workpiece to be machined and the position error are registered and a position error transformation matrix is obtained. And performing position registration on the second point cloud data obtained by dispersing the three-dimensional model and the third point cloud data obtained by scanning and converting the workpiece to be processed to obtain a position conversion matrix N of the second point cloud data and the third point cloud data. A schematic diagram of the registered three-dimensional model discrete data and the workpiece scanning data is shown in fig. 6.
A way of determining a position transformation matrix, optionally from N first point cloud data sets and the N second point cloud data, is:
for each first point cloud data set, based on the position relation between a positioning block coordinate system and a machine tool coordinate system contained in the first point cloud set, converting the position of the first point cloud data contained in the first point cloud data set to be below the machine tool coordinate system to obtain third point cloud data; merging the cloud data of the third points; merging the second point cloud data; and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
The specific way of performing position registration on the merged third point cloud data and the merged second point cloud data to obtain the position transformation matrix may refer to an existing registration method, for example, the registration method described in the invention name of 201910005488.
Step 206: and calculating the product of the first processing data and the position transformation matrix.
Suppose that: n denotes a position conversion matrix, Data denotes first processing Data, DatanewRepresenting second processing data, obtained by transforming the first processing data by a position transformation matrix NThe secondary process Data can be represented as Datanew＝N*Data。
Step 207: the product is determined as the second machining data.
Step 208: and processing the workpiece clamped in the machine tool according to the second processing data.
And processing the workpiece according to the processed second processing data, so that the problem of clamping errors generated in the clamping process can be solved. The second machining data is the corrected machining data.
The workpiece processing data processing method provided by the embodiment of the invention is characterized in that a workpiece to be processed is clamped in a machine tool; determining a three-dimensional model of a workpiece, a machine tool coordinate system and first machining data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; according to the second machining data, the workpiece clamped in the machine tool is machined, the machining data of the workpiece in any shape can be corrected conveniently, and the correction precision is high.
EXAMPLE III
Referring to fig. 7, a block diagram of a workpiece processing data processing apparatus according to a third embodiment of the present invention is shown.
The workpiece processing data processing device of the embodiment of the invention is applied to a numerical control processing system, wherein the device comprises: the fixing module 301 is used for clamping a workpiece to be machined in a machine tool; a first determination module 302 for determining a three-dimensional model of the workpiece, a machine coordinate system, and first machining data of the workpiece; a scanning module 303, configured to scan the workpiece, and obtain N first point cloud data sets, where each point cloud data set includes: first point cloud data under a positioning block coordinate system and a position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1; a discretization module 304, configured to place the three-dimensional model of the workpiece in the machine coordinate system, and discretize each target surface in the three-dimensional model into N second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model; a transformation matrix determining module 305, configured to determine a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; a second determining module 306, configured to perform data transformation on the first processed data according to the position transformation matrix to obtain second processed data; and an operation module 307, configured to process the workpiece clamped in the machine tool according to the second processing data.
Preferably, the scanning module includes:
the first sub-module is used for setting a cube positioning block on the workpiece when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module; the second sub-module is used for determining a positioning block coordinate system based on the position relation between the top point and the side of the cube positioning block;
and the third sub-module is used for scanning the surface of the workpiece, converting the point cloud data obtained by scanning into the positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
Preferably, the scanning module includes:
the fourth sub-module is used for arranging a plurality of cube positioning blocks on the workpiece according to a preset rule when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module;
a fifth sub-module, configured to determine, for each of the cube positioning blocks, a positioning block coordinate system corresponding to the cube positioning block based on a positional relationship between any vertex of the cube positioning block and three edges connected to the vertex; scanning the surface of the workpiece, converting cloud point data obtained by scanning into a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data;
and the sixth submodule is used for correspondingly storing the first point cloud data corresponding to the cube positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system aiming at each cube positioning block.
Preferably, the transformation matrix determining module includes:
the transformation submodule is used for transforming the position of the first point cloud data contained in the first point cloud data set to be under the machine tool coordinate system based on the position relation between the positioning block coordinate system contained in the first point cloud set and the machine tool coordinate system to obtain third point cloud data;
the registration submodule is used for merging the cloud data of the third points; merging the second point cloud data; and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
Preferably, the second determining module includes:
the calculation submodule is used for calculating the product of the first processing data and the position transformation matrix;
and the determining submodule is used for determining the product as second machining data.
The workpiece processing data processing apparatus provided in the embodiment of the present invention can implement each process in the workpiece processing data processing method shown in the method embodiments of fig. 1 to 6, and is not described here again to avoid repetition.
The workpiece processing data processing device provided by the embodiment of the invention clamps the workpiece to be processed in the machine tool; determining a three-dimensional model of a workpiece, a machine tool coordinate system and first machining data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; according to the second machining data, the workpiece clamped in the machine tool is machined, the machining data of the workpiece in any shape can be corrected conveniently, and the correction precision is high.
Each software module in the embodiment of the present invention has the same function as each corresponding software module in the foregoing system embodiment, and the specific operation description that each software module can execute may refer to the related description in the first embodiment and the second embodiment, which is not described herein again.
A workpiece processing data processing method and apparatus provided herein is not inherently related to any particular computer, virtual machine system, or other apparatus. Various general purpose systems may also be used with the teachings herein. The structure required to construct a system incorporating aspects of the present invention will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a process data processing scheme according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 8 illustrates a computing device that may implement the workpiece processing data processing method of the present invention. The computing device conventionally includes a processor 1010 and a computer program product or computer-readable medium in the form of a memory 1020. The memory 1020 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 1020 has a storage space 1030 in which program code 1031 for performing any of the method steps of the above-described method is stored. For example, the storage space 1030 storing the program codes may store the respective program codes 1031 respectively for implementing the various steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a portable or fixed storage unit as shown for example in fig. 9. The memory unit may have memory segments, memory spaces, etc. arranged similarly to memory 1020 in the computing device of fig. 8. The program code may be compressed in a suitable form. Typically, the storage unit comprises computer readable code 1031', i.e. code that is readable by a processor such as 1010, which when executed by a computing device causes the computing device to perform the steps of the method described above.
Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Moreover, it is noted that instances of the word "in one embodiment" are not necessarily all referring to the same embodiment. In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A workpiece processing data processing method is applied to a numerical control processing system and is characterized by comprising the following steps:
clamping a workpiece to be processed in a machine tool;
determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece;
scanning the workpiece to obtain N first point cloud data sets, wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and a position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1;
placing the three-dimensional model of the workpiece under the machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model;
determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data;
performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data;
and processing the workpiece clamped in the machine tool according to the second processing data.
2. The method of claim 1, wherein scanning the workpiece to obtain N first point cloud data sets comprises:
when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module, arranging a cube positioning block on the workpiece; determining a positioning block coordinate system based on the position relation between the vertex and the edge of the cube positioning block;
and scanning the surface of the workpiece, and converting the cloud point data obtained by scanning into a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
3. The method of claim 2, wherein scanning the workpiece to obtain N first point cloud data sets comprises:
when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module, a plurality of cube positioning blocks are arranged on the workpiece according to a preset rule;
for each cube positioning block, determining a positioning block coordinate system corresponding to the cube positioning block based on the position relation between any vertex of the cube positioning block and three edges connected with the vertex; scanning the surface of the workpiece, converting point cloud data obtained by scanning to a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data;
and correspondingly storing the first point cloud data corresponding to the cube positioning blocks and the position relation between the positioning block coordinate system and the machine tool coordinate system for each cube positioning block.
4. The method of claim 1, wherein the step of determining a location transformation matrix from the N first point cloud data sets and the N second point cloud data comprises:
for each first point cloud data set, based on the position relation between a positioning block coordinate system and a machine tool coordinate system contained in the first point cloud set, converting the position of first point cloud data contained in the first point cloud data set to be below the machine tool coordinate system to obtain third point cloud data;
merging the cloud data of the third points; merging the second point cloud data;
and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
5. The method of claim 1, wherein the step of performing data transformation on the first processed data according to the position transformation matrix to obtain second processed data comprises:
calculating a product of the first processing data and the position transformation matrix;
the product is determined as second machining data.
6. A workpiece processing data processing device, which is applied to a numerical control processing system, is characterized by comprising:
the fixing module is used for clamping a workpiece to be machined in the machine tool;
a first determination module for determining a three-dimensional model of the workpiece, a machine coordinate system and first machining data of the workpiece;
the scanning module is used for scanning the workpiece to obtain N first point cloud data sets, wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and a position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1;
the dispersion module is used for placing the three-dimensional model of the workpiece under the machine tool coordinate system and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model;
a transformation matrix determining module, configured to determine a position transformation matrix according to the N first point cloud data sets and the N second point cloud data;
the second determining module is used for carrying out data transformation on the first processing data according to the position transformation matrix to obtain second processing data;
and the operation module is used for processing the workpiece clamped in the machine tool according to the second processing data.
7. The apparatus of claim 6, wherein the scanning module comprises:
the first sub-module is used for setting a cube positioning block on the workpiece when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module; the second sub-module is used for determining a positioning block coordinate system based on the position relation between the top point and the side of the cube positioning block;
and the third sub-module is used for scanning the surface of the workpiece, converting the point cloud data obtained by scanning into the positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
8. The apparatus of claim 7, wherein the scanning module comprises:
the fourth sub-module is used for arranging a plurality of cube positioning blocks on the workpiece according to a preset rule when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module;
a fifth sub-module, configured to determine, for each of the cube positioning blocks, a positioning block coordinate system corresponding to the cube positioning block based on a positional relationship between any vertex of the cube positioning block and three edges connected to the vertex; scanning the surface of the workpiece, converting cloud point data obtained by scanning into a positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data;
and the sixth submodule is used for correspondingly storing the first point cloud data corresponding to the cube positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system aiming at each cube positioning block.
9. The apparatus of claim 6, wherein the transformation matrix determination module comprises:
the transformation submodule is used for transforming the position of the first point cloud data contained in the first point cloud data set to be under the machine tool coordinate system based on the position relation between the positioning block coordinate system contained in the first point cloud set and the machine tool coordinate system to obtain third point cloud data;
the registration submodule is used for merging the cloud data of the third points; merging the second point cloud data; and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
10. The apparatus of claim 6, wherein the second determining module comprises:
the calculation submodule is used for calculating the product of the first processing data and the position transformation matrix;
and the determining submodule is used for determining the product as second machining data.
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