CN112462689A - Method for generating handicraft digital model random carving four-axis three-linkage cutter path - Google Patents

Method for generating handicraft digital model random carving four-axis three-linkage cutter path Download PDF

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CN112462689A
CN112462689A CN202011434774.7A CN202011434774A CN112462689A CN 112462689 A CN112462689 A CN 112462689A CN 202011434774 A CN202011434774 A CN 202011434774A CN 112462689 A CN112462689 A CN 112462689A
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digital model
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CN112462689B (en
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张永强
步文瑜
王士玮
童晶
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Dezhou Yudiao Mechanical Equipment Co ltd
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract

The invention discloses a method for generating a handicraft digital model random engraving four-axis three-linkage tool path, which mainly relates to the technical field of numerical control machining; the method comprises the following steps: s1, obtaining a raw material three-dimensional digital model of the raw material to be processed; s2, importing a raw material three-dimensional digital model and a processing target model; s3, rigidly aligning the three-dimensional digital model of the raw material with the processing target model; s4, carrying out grid deformation on the processing target model based on the raw material three-dimensional digital model; s5, adding a supporting block for the processing target model to obtain an edited processing target model; s6, slicing the edited processing target model; s7, generating a four-axis triple-linkage machining tool path of the machining target model by using the sliced data; the invention can reduce the consumption of raw materials in the engraving process, each engraving finished product is different and can be customized individually, and the operation of the whole process is simple and efficient.

Description

Method for generating handicraft digital model random carving four-axis three-linkage cutter path
Technical Field
The invention relates to the technical field of numerical control machining, in particular to a method for generating a handicraft digital model type-following carving four-axis three-linkage cutter path.
Background
In modern society, numerical control machining center is as the important equipment of machine tooling, and its application is increasingly extensive. How to obtain the numerical control machining code quickly and accurately is an important subject when a numerical control machining center is applied to production and machining. On the other hand, with the development of the machine engraving industry, CNC (computer numerical control) engraving machines are increasingly used in the handicraft engraving industry, and the market also puts higher and more diversified demands on the machine engraving of the handicraft, such as: and carrying out deformation random carving on the processing target model according to the raw material model, and carrying out customized personalized carving according to the requirements of customers.
At present, there are many kinds of software available on the market for auxiliary programming of a numerical control machining center, for example: UNIGRAPHICS of EDS company, I-DEAS of SDRC company, AutoCAD of Auto DESK company, PowerMill of Delcam Pc company, SolidWorks of Solid Works company, etc., and these large-scale professional software have corresponding CAM (computer aided manufacturing) modules, which can convert the three-dimensional entity data generated in the design process into corresponding numerical control processing programs, and then transmit the programs to a machine tool for processing through some communication interfaces.
In the present situation of China, when an artwork processing enterprise is engaged in production and processing behaviors, the following two modes generally exist, and certain problems exist.
The first mode is to use the existing three-dimensional digital model of the handicraft without model deformation and directly without modification to carry out numerical control machining programming by using auxiliary programming software of a numerical control machining center to obtain a corresponding numerical control machining program, and then carry out machining and engraving. The method can not deform along with the carving of the raw materials, the processed finished products are uniform, the raw materials can not be well utilized, the individual requirements of consumers can not be met, the selling price is low, and the profits obtained by enterprises are limited.
The second mode is that professional three-dimensional modeling software such as 3ds Max, Maya, Rhino3D NURBS and the like is used for modifying and deforming the existing three-dimensional digital model of the handicraft according to the requirements, and then the modified and deformed three-dimensional digital model is input into auxiliary programming software of a numerical control machining center to generate a machining path for machining. This kind of mode does not have the commonality, needs to carry out independent processing to each three-dimensional digital model, and efficiency is comparatively low, and operating personnel need higher learning cost, has both increased the human resource cost to the enterprise, has also lengthened production cycle, is unfavorable for enterprise's production.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a method for generating an artware digital model random engraving four-axis three-linkage cutter path, which is used for deforming the existing artware digital model under the constraint of a raw material model obtained by scanning, then generating a four-axis three-linkage numerical control processing program, namely a processing cutter path, and engraving, so that the consumption of raw materials in the engraving process can be reduced, each engraving finished product is different and can be customized individually, and the operation of the whole process is simple and efficient.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the method for generating the handicraft digital model type-following carving four-axis three-linkage tool path comprises the following steps:
s1, obtaining a raw material three-dimensional digital model of the raw material to be processed;
s2, importing a raw material three-dimensional digital model and a processing target model;
s3, rigidly aligning the three-dimensional digital model of the raw material with the processing target model;
s4, carrying out grid deformation on the processing target model based on the raw material three-dimensional digital model;
s5, adding a supporting block for the processing target model to obtain an edited processing target model;
s6, slicing the edited processing target model;
and S7, generating a four-axis triple-linkage machining tool path of the machining target model by using the sliced data.
Preferably, the specific method of step S1 is: and scanning the raw material to be processed by using a three-dimensional scanner based on the calibration points to obtain a three-dimensional digital model of the raw material, and simplifying the grid to a certain degree to obtain the three-dimensional digital model of the raw material.
Preferably, in step S2: and rendering and displaying the imported raw material three-dimensional digital model and the processing target model.
Preferably, the rigid alignment method in step S3 is alignment based on a directional bounding box, including generation of a directional bounding box and alignment based on a directional bounding box;
the generation step of the directed bounding box comprises the following steps: firstly, extracting a long axis and a short axis of a model by adopting a principal component analysis method, and then constructing a directional bounding box;
the step of alignment based on the directional bounding box is as follows: firstly, generating directed bounding boxes for a processing target model and a raw material three-dimensional digital model respectively; then, solving an affine transformation matrix T between the directed bounding box of the processing target model and the directed bounding box of the raw material three-dimensional digital model; and finally, applying transformation T to the processing target model.
Preferably, the step S4 specifically includes the steps of:
s41, selecting a deformation area;
s42, selecting a proper step distance lambda to carry out ARAP deformation;
s43, judging whether the deformed processing target model collides with the three-dimensional digital model of the raw material or not;
and S44, if no collision occurs, the step S42 is carried out, and if the collision occurs, the deformation result of the previous step is returned.
Preferably, the step S5 specifically includes the steps of:
s51, introducing a support block model;
and 52, performing AND operation on the processing target model and the supporting block model, wherein the AND operation is to call a mesh _ bolean () function in an open source computer graphics library libigl, perform AND operation on the processing target model and the supporting block model, and take the AND operation result as a new processing target model.
Preferably, the step S6 specifically includes the steps of:
s61, selecting a proper slice layer height d;
s62, according to the edited minimum value z of the z coordinate of the processing object modelminAnd the current layer number n is obtained, and the current layer height h is equal to zmin+ nd (n ═ 0, 1.., s), where
Figure BDA0002828011620000041
S63, solving an intersection set of the edited processing target model and the space plane z ═ h;
and S64, sequencing the vertexes on the intersection point set to obtain a current layer slicing result ordered intersection point set.
Preferably, the step S7 specifically includes the steps of:
s71, obtaining a preliminary tool path according to the slicing data in the step S6;
and S72, performing interference processing.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can realize semi-automatically obtaining the deformation model of the existing processing target model according to different shapes of processing raw materials, and carries out collision detection in the deformation process, thereby ensuring that the deformed processing target model is always in the boundary constraint range of the raw material model, and leading the processing target model to be more matched with and carve the raw materials on the basis of not causing empty carving so as to realize the free carving;
2. although the existing computer aided design software can also adjust and deform a machining target model, the existing computer aided design software is expensive in price and complex in operation, needs experienced workers to respectively adjust each model, cannot ensure the inclusion and inclusion relationship between the machining target model and a raw material model, and is high in cost and low in efficiency; the method can perform personalized deformation carving aiming at different models and carving raw materials semi-automatically, can quickly generate a four-axis three-linkage cutter path, is simple to operate, and hardly needs manual post-processing.
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FIG. 1 is an overall flow diagram of the present invention;
FIG. 2 is a schematic diagram showing a rigid alignment before and after alignment;
FIG. 3 is a flow chart of mesh deformation of a processing target model;
FIG. 4 is a comparison of a mesh deformation operation performed on a machining target model;
FIG. 5 is a schematic diagram of control points and free points;
FIG. 6 is an ARAP modification flow chart;
FIG. 7 is a view of the vertex viAnd its corresponding unit Ci；
FIG. 8 is an effect view after the addition of the support block;
FIG. 9 is v0，v1，v2A graph of position relationship with z as h;
FIG. 10 is a schematic view of a ball nose tool;
FIG. 11 is a schematic view of a horn knife;
FIG. 12 is a schematic view of a flat bed knife.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.
Example (b): as shown in fig. 1-12, the invention relates to a method for generating a handicraft digital model engraving tetraxial triple-linkage tool path, which comprises the following steps:
and S1, acquiring a raw material three-dimensional digital model of the raw material to be processed, specifically, scanning the raw material to be processed by using a three-dimensional scanner to obtain the raw material three-dimensional digital model, preferably, scanning by using a three-dimensional scanner based on a calibration point to obtain the raw material three-dimensional digital model with the lowest precision of 0.05mm, and carrying out grid simplification to a certain extent to facilitate subsequent calculation processing.
And S2, importing the raw material three-dimensional digital model B and the processing object model D, and preferably, rendering and displaying the imported raw material three-dimensional digital model B and the processing object model D.
S3, rigidly aligning the three-dimensional digital model of the raw material with the processing target model;
preferably, the rigid alignment method in step S3 is alignment based on a directional bounding box, including generation of a directional bounding box and alignment based on a directional bounding box;
the generation step of the directed bounding box comprises the following steps: firstly, extracting a long axis and a short axis of a model by adopting a principal component analysis method, and then constructing a directional bounding box;
the method for extracting the long axis and the short axis of the model by adopting the principal component analysis method comprises the following specific steps:
first, model vertex data is represented by P ═ xi，yi，zi) And (i ═ 0, 1.., n); these three-dimensional data are stored in three vectors X ═ X1，x2，...，xn]，Y＝[u1，y2，...，yn]，Z＝[z1，z2，...，zn]In the method, a principal component analysis method is adopted to analyze three dimensions, and the steps are as follows: firstly, data goes to a center; then solving a covariance matrix; solving an eigenvalue and an eigenvector of the covariance matrix; obtaining three axes L, W and H of the bounding box;
the specific steps of constructing the oriented bounding box are as follows:
after obtaining three axes of the directional bounding box, 8 vertexes v of the bounding box can be easily obtained1、v2、v3、v4、v5、v6、v7、v8And center C; from this, the bounding box can be uniquely determined; for simplifying the operation, converting the points from the current O, x, y and z coordinate system to a C, l, w and h coordinate system, wherein O, x, y and z are a global coordinate system, and C, l, w and h are local coordinate systems;
orthogonal frame conversion; obtaining a range boundary and a bounding box vertex under C, l, w, h coordinates; and converting the bounding box vertex to be under an O, x, y and z coordinate system, and finishing the construction of the bounding box OBB.
The step of alignment based on the directional bounding box is as follows: first, a directed bounding box D is generated for each of the processing target model D and the raw material model BBoxAnd BBox(ii) a Then solve for DBoxAnd BBoxAn affine transformation matrix T therebetween; finally, the transformation T is applied to the processing target model D to obtain a model D', and the comparison before and after rigid alignment is shown in the attached figure 2.
S4, carrying out grid deformation on the processing target model based on the raw material three-dimensional digital model;
preferably, the step S4 specifically includes the steps of:
s41, selecting a deformation area;
the specific method for selecting the deformation area comprises the following steps: firstly, an A-star path-finding algorithm is adopted to obtain a control point in deformation, and then adjacent points in a certain range are selected around the control point to serve as free points.
Obtaining a control point in deformation by adopting an A-star path-finding algorithm, and firstly, interactively selecting two vertexes V on a processing target model through a mouse by a userSAnd VE. The specific method comprises the following steps: acquiring screen coordinates clicked by a user; the screen coordinate is processed through a screen coordinate system, a cutting coordinate system and the matrix transformation from a camera coordinate system to a model coordinate system, and a triangular patch F in the processing target model is obtained through a ray picking algorithmSAnd FESelecting the first vertex in each patch as VsAnd VE。
Will VsAnd VEThe method is used as a starting point and a terminating point of an A-star path finding algorithm, then the A-star path finding algorithm is used for obtaining a shortest path between the two points, and all vertexes on a triangular surface patch where the vertexes on the path are located are used as control points. The specific method comprises the following steps:
(a) initial vertex VsAdding into close table;
(b) acquiring the last node S of the close table;
(c) all points around the S point which are not in the close table and not in the open table are obtained, and the open table is added;
(d) calculating the F values of all vertexes in the open list, and obtaining a vertex T with the lowest F value;
(e) deleting T from the open table and adding T into the close table at the same time;
(f) judging the termination point VEWhether it is in close table, if it isTerminating and obtaining a set P containing all the vertexes on the shortest path; otherwise, executing step (b).
Wherein: the open table is a list for recording all vertexes considered to find the shortest path;
the close table is a list for recording vertexes which are not considered any more, namely, vertexes which are already walked are recorded in the close table; g is the cost of consumption from the starting point to the current vertex, H is the estimated cost from a vertex to the ending point, H is | V in this exampleE-VC|，VETo terminate the vertex, VCIs the current vertex.
All vertexes contained in the triangular surface patch where the vertexes in the P are located are set as control points, then every 4 control points are spaced, neighborhood vertexes in a certain range around the control points are taken as deformation free vertexes, and a union set of the free vertexes corresponding to all the control points is taken as a free point set of grid deformation. The schematic diagram of the control points and the free points is shown in figure 5.
S42, selecting a proper step distance lambda to carry out ARAP deformation; the method specifically comprises the following steps: and setting an input grid, and constraining the fixed position set by the control point to ensure the deformation of the rigid grid.
And setting an input grid, and taking the processing target model grid as an input grid S of the deformation operation.
Fixed position constraints are set, and in this example, the positions of the control points can be set as: and the position p' of the current control point after moving the proper step distance lambda along the normal direction of the point is p + lambda n, and n is a normal vector of the point p.
And combining the input grid information, the control point set and free point set information and the fixed position constraint information to carry out rigidity-guaranteeing grid deformation. The ARAP transformation process is shown in fig. 6, and comprises: firstly, acquiring adjacent information of a mesh vertex, wherein the mesh vertex and a 1-neighborhood triangular patch form a unit; secondly, defining the rigid energy of each unit, and summing to obtain the integral rigid energy; thirdly, determining an initial guess of the vertex coordinates after deformation; fourthly, using the coordinates of the vertex after the current deformation to calculate the optimal rotation matrix of all the deformation units by using singular value decomposition; and fifthly, solving a linear equation set by using the current optimal rotation matrix to obtain a new vertex coordinate. And sixthly, repeating the fourth step and the fifth step until the integral rigidity energy is less than the threshold set by the user.
First, adjacency information of the input mesh S is acquired. Let the vertex viForm a unit C with its 1-neighborhood triangular patchiAs shown in fig. 7. Defining the rigid energy of each unit, and summing to obtain the overall rigid energy:
Figure BDA0002828011620000081
wherein S is an input grid, and S' is a deformed input grid; e (S') is the stiffness energy of the entire mesh; n is the number of vertexes in the input grid S; n (i) is the sum of vertex viA set of adjacent vertices; w is aijIs an edge eijIs given by weight of
Figure BDA0002828011620000091
αijAnd betaijIs an edge eijTwo opposite corners of (a); p is a radical ofiIs a vertex viThe position of (a); p is a radical ofiPosition after deformation is pi′，pjIs a vertex vjThe position of (a); p is a radical ofjPosition after deformation is pj′；RiIs a unit CiAnd transforming the rotation matrixes before and after.
By minimizing the stiffness energy E (S'), a most rigid deformation of the mesh is possible.
Subsequently, the transformed vertex coordinates p are determinediInitial guess of'. For a selected control point, its initial guess is a fixed position constraint that was set previously. For the free point, the initial guess is determined by minimizing | Lp' - δ | purple cells2An implementation is where δ — Lp, p is the coordinates of the vertices in the initial mesh input by the user, and p' is the coordinates of the vertices in the mesh after the control point coordinates have changed according to the fixed position constraint described above. | Lp' -delta | ceiling2To achieve the minimum, Lp' may be obtained as Lp, where the matrix L is defined as follows:
Figure BDA0002828011620000092
by further calculation and simplification, one can obtain: a. theTAXfree＝AT(Lp-BXfixed) Solving the equation system to obtain XfreeI.e. the initial guess of the free point. Wherein A is a matrix composed of columns corresponding to subscripts of free vertexes in the matrix L, and X isfreeIs the coordinate of free vertex and is unknown quantity, B is the matrix formed by the columns corresponding to fixed vertex subscript in matrix L, XfixedThe coordinates of the vertices are fixed, including the control points and the remaining vertices in the mesh S.
Using the current post-deformation vertex coordinates pi' the optimal rotation matrix of all the deformation units is calculated by using singular value decomposition.
And solving a linear equation set by using the current optimal rotation matrix to obtain a new vertex coordinate. When Ri is determined, the p 'required to minimize E (S') can be determined by solving a system of linear equations
Figure BDA0002828011620000093
Implementation, for each piThe following equation can be derived:
Figure BDA0002828011620000101
the linear combination on the left side of the equation is the discrete laplacian-bertelameter of p', so the system of equations can be written as: lp' ═ b. Solving the system of equations to obtain p'.
In the next iteration, new R and p 'are solved by taking the newly obtained p' as a known quantity, and the process is repeated until the grid rigidity energy is smaller than a threshold value specified by a user.
S43, judging whether the deformed processing target model collides with the three-dimensional digital model of the raw material or not;
the collision detection comprises the following specific steps:
(a) building a BVH (Bounding Volume Hierarchy Bounding box) tree for the raw material model;
(b) circularly traversing each triangular patch F in the deformation region of the processing target modeliTo FiConstruction of its AABB bounding Box Bi(Axially-aligned bounding Box axis aligned);
(c) adding a root node of the raw material model BVH tree into a queue Q;
(d) popping up the top element of the Q team, and judging the current NodejWhether the Node is a leaf Node of the raw material model BVH tree or not, if the Node is a leaf Node of the raw material model BVH treejIf it is leaf node, the current triangular patch FiAnd NodejCorresponding triangular patch FjForm a triangular patch pair (F)i，Fj) Adding a candidate set; if NodejIf not, judging BiNode with current NodejLeft and right sub-nodes NodepAnd NodeqThe intersection of (A) with (B)iAdding the crossed nodes into a queue Q;
(e) repeating (d) until the Q queue is empty.
(f) For all triangular patch pairs (F) in the candidate seti，Fj) And (4) carrying out accurate intersection judgment, judging that no collision exists if two triangular patches in all the triangular patch pairs are not intersected, and otherwise, judging that collision occurs.
For triangular patch pair (F)i，Fj) Carrying out accurate intersection judgment, and specifically judging F in sequenceiThree sides e in0，e1，e2And FjWhether the two are crossed is judged, and then F is judged in sequencejThree sides of (1) and (F)iAnd if the intersection judgment results are non-intersection, the two triangles are not intersected, otherwise, the two triangles are intersected.
The method for judging the intersection relation between the edge and the triangle is as follows, and F is usediEdge e in0＝p0-p1And FjThe intersection judgment of (1) is as follows: defining matrix D ═ p [ ("p0-p1)，(t1-t0)，(t2-t0)]The vector c is equal to p0-v0Calculating s ═ D-1c, if the following conditions are satisfied, e0And FjIntersect, otherwise do not.
Figure BDA0002828011620000111
Wherein p is0，p1Is an edge e0Two break points of, t0，t1，t2Is FjThree vertices in (1).
And S44, if no collision occurs, the step S42 is carried out, and if the collision occurs, the deformation result of the previous step is returned.
S5, adding a supporting block for the processing target model to obtain an edited processing target model;
the step S5 specifically includes the steps of:
s51, introducing a support block model;
and 52, performing and operation on the processing target model and the supporting block model, wherein the and operation is to call a mesh _ bolean () function in an open source computer graphics library libigl, perform and operation on the processing target model and the supporting block model, take the and operation result as a new processing target model, and add the supporting block as shown in fig. 8.
S6, slicing the edited processing target model;
the step S6 specifically includes the steps of:
s61, selecting a proper slice layer height d;
s62, according to the edited minimum value z of the z coordinate of the processing object modelminAnd the current layer number n is obtained, and the current layer height h is equal to zmin+ nd (n ═ 0, 1.., s), where
Figure BDA0002828011620000112
S63, solving an intersection set of the edited processing target model and the space plane z ═ h;
the specific method comprises the following steps: traversing all triangular patches in the processing target model to obtain the minimum value z of the z-axis component of the triangular patchesiminAnd maximum value zimaxAll satisfy ziminH is less than or equal to h and zimaxAnd adding the set F into the triangular patch of more than or equal to h. Circularly traversing all the triangular patches in the F to obtain two intersection points p of each triangular patch and the plane z ═ h0And p1：
p0＝v0+(v1-v0)×(h-v0)/(v1-v0)
p1＝v0+(v2-v0)×(h-v0)/(v2-v0)
Wherein v is0，v1，v2The three vertexes of the triangular patch are in the position relation as shown in figure 9, v0On one side of plane z ═ h, v1，v2On the other side.
And S64, sequencing the vertexes on the intersection point set to obtain a current layer slicing result ordered intersection point set.
The specific method comprises the following steps:
(a) defining a set of ordered vertices Psorted；
(b) For any vertex p in the unordered intersection point setiTo obtain piIs traversed through each vertex p in the set of contiguous verticesjIf p isjHas added PsortedSkipping; if p isjWithout addition of PsortedThen p will bejAdding PsortedAnd let p bei＝pj；
(c) Repeating step (b) until piAll adjoining vertices have joined Psorted。
And S7, generating a four-axis triple-linkage machining tool path of the machining target model by using the sliced data.
S71, according to the slice data P in the step S6sortedObtaining a preliminary tool path;
the method specifically comprises the following steps:
calculating PsortedEach vertex p iniCylindrical surface coordinate (r)i，θi，zi)(ri≥0，0≤θi≤2π，z∈R)，(ri，θi，zi) To rectangular coordinate (x)i，yi，zi) The relationship of (a) to (b) is as follows:
Figure BDA0002828011620000121
the coordinate of the cylindrical expansion map of the point is (z)i，θi/π×180，ri) Noting the cylindrical surface development map coordinate as pc(ii) a The coordinate p of the tool location point in the preliminary tool pathlComprises the following steps:
Figure BDA0002828011620000131
wherein R is the radius of the cutter, R is the radius of the cutter angle, ntIs the normal vector of the cutter shaft, nsIs a point pcThe normal vector of (1). The ball-point cutter is shown in figure 10, the angle cutter is shown in figure 11, and the flat-bottom cutter is shown in figure 12.
All p arelAre smoothly connected to form a preliminary tool path L.
And S72, performing interference processing.
The method mainly comprises the following steps: for each plThrough plDrawing a straight line parallel to the z-axis, solving the intersection point of the straight line and the L to obtain a point set P, and taking the point P with the maximum z coordinate in the PoAs a final tool path LoutputThe point of (1).
Will be the final LoutputAnd outputting the points to the nc file, and processing the points.
According to the method, a collision detection step is added in a grid deformation process of a processing target model, so that the deformation of the processing target model is always within the boundary constraint range of a raw material model; slicing the processing target model, and sequencing new vertex information obtained by slicing each layer; generating a preliminary four-axis triple-linkage tool path by calculating the coordinates of the cylindrical surface and the coordinates of the cylindrical surface development image and combining the information of the specific tool model by using the vertex information obtained by the sequenced slices; and performing interference processing on the preliminary tool path. The deformation model of the existing processing target model can be obtained semi-automatically according to different shapes of the processing raw materials, and the processing target model can be matched with the carving raw materials on the basis of not causing empty carving so as to realize random carving; the semi-automatic engraving machine can perform personalized deformation engraving on different models and engraving raw materials semi-automatically, can quickly generate a four-axis three-linkage tool path, is simple to operate, and almost does not need manual post-processing. The invention can also be used for other circular carving scenes.

Claims (8)

1. The method for generating the handicraft digital model type-following carving four-axis three-linkage tool path is characterized by comprising the following steps of:
s1, obtaining a raw material three-dimensional digital model of the raw material to be processed;
s2, importing a raw material three-dimensional digital model and a processing target model;
s3, rigidly aligning the three-dimensional digital model of the raw material with the processing target model;
s4, carrying out grid deformation on the processing target model based on the raw material three-dimensional digital model;
s5, adding a supporting block for the processing target model to obtain an edited processing target model;
s6, slicing the edited processing target model;
and S7, generating a four-axis triple-linkage machining tool path of the machining target model by using the sliced data.
2. The method for generating the engraving tetraxial and triple-linkage tool path with the handicraft digital model as claimed in claim 1, wherein the specific method of the step S1 is as follows: and scanning the raw material to be processed by using a three-dimensional scanner based on the calibration points to obtain a three-dimensional digital model of the raw material, and simplifying the grid to a certain degree to obtain the three-dimensional digital model of the raw material.
3. The method for generating an engraving followed by four-axis three-linkage tool path for handicraft digital model according to claim 1, wherein in said step S2: and rendering and displaying the imported raw material three-dimensional digital model and the processing target model.
4. The method for generating an engraving tetraxial three-motion tool path with a handicraft digital model according to claim 1, wherein the rigid alignment method in step S3 is alignment based on directional bounding box, comprising generation of directional bounding box and alignment based on directional bounding box;
the generation step of the directed bounding box comprises the following steps: firstly, extracting a long axis and a short axis of a model by adopting a principal component analysis method, and then constructing a directional bounding box;
the step of alignment based on the directional bounding box is as follows: firstly, generating directed bounding boxes for a processing target model and a raw material three-dimensional digital model respectively; then, solving an affine transformation matrix T between the directed bounding box of the processing target model and the directed bounding box of the raw material three-dimensional digital model; and finally, applying transformation T to the processing target model.
5. The method for generating an engraving followed by a four-axis three-linkage tool path for a digital model of handicraft according to claim 1, wherein said step S4 specifically comprises the steps of:
s41, selecting a deformation area;
s42, selecting a proper step distance lambda to carry out ARAP deformation;
s43, judging whether the deformed processing target model collides with the three-dimensional digital model of the raw material or not;
and S44, if no collision occurs, the step S42 is carried out, and if the collision occurs, the deformation result of the previous step is returned.
6. The method for generating an engraving followed by a four-axis three-linkage tool path for a digital model of handicraft according to claim 1, wherein said step S5 specifically comprises the steps of:
s51, introducing a support block model;
and 52, performing AND operation on the processing target model and the supporting block model, wherein the AND operation is to call a mesh _ bolean () function in an open source computer graphics library libigl, perform AND operation on the processing target model and the supporting block model, and take the AND operation result as a new processing target model.
7. The method for generating an engraving followed by a four-axis three-linkage tool path for a digital model of handicraft according to claim 1, wherein said step S6 specifically comprises the steps of:
s61, selecting a proper slice layer height d;
s62, according to the edited minimum value z of the z coordinate of the processing object modelminAnd the current layer number n is obtained, and the current layer height h is equal to zmin+ nd (n ═ 0, 1.., s), where
Figure FDA0002828011610000021
S63, solving an intersection set of the edited processing target model and the space plane z ═ h;
and S64, sequencing the vertexes on the intersection point set to obtain a current layer slicing result ordered intersection point set.
8. The method for generating an engraving followed by a four-axis three-linkage tool path for a digital model of handicraft according to claim 1, wherein said step S7 specifically comprises the steps of:
s71, obtaining a preliminary tool path according to the slicing data in the step S6;
and S72, performing interference processing.
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