CN113689468A - Method and apparatus for controlling workpiece processing apparatus, and computer-readable storage medium - Google Patents
Method and apparatus for controlling workpiece processing apparatus, and computer-readable storage medium Download PDFInfo
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Abstract
The invention discloses a control method of a workpiece processing device, a device thereof and a computer readable storage medium. Wherein, the method comprises the following steps: determining a motion track of the workpiece processing equipment, wherein the motion track is a moving path of the workpiece processing equipment when the workpiece processing equipment performs processing operation on a target object, and the target object is an object to be processed of the workpiece processing equipment; smoothing the motion trail to obtain a smoothed motion trail; and controlling the workpiece processing equipment to move according to the motion track after the smoothing treatment so as to execute processing operation on the target object. The invention solves the technical problems of abnormal processing moving track condition and low reliability caused in the scenes of high curvature points and sharp corner points when a workpiece is processed in the related technology.
Description
Technical Field
The invention relates to the technical field of automatic production, in particular to a control method and a device of a workpiece processing device and a computer readable storage medium.
Background
In a curve processing scene of multi-axis linkage such as numerical control and laser cutting, due to the influence of a sharp corner point and a high curvature point in a path curve, if a proper algorithm is not used for processing special points, phenomena such as punching on the surface of a processed part, shaking or over-cutting of a machine tool and the like can be caused.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device of a workpiece processing device and a computer readable storage medium, which are used for at least solving the technical problems of abnormal processing movement track condition and low reliability caused in the scenes of high curvature points and sharp corner points when a workpiece is processed in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a control method of a workpiece processing apparatus, including: determining a motion track of workpiece processing equipment, wherein the motion track is a moving path of the workpiece processing equipment when the workpiece processing equipment performs processing operation on a target object, and the target object is an object to be processed of the workpiece processing equipment; smoothing the motion trail to obtain a smoothed motion trail; and controlling the workpiece processing equipment to move according to the motion trail after the smoothing processing so as to execute processing operation on the target object.
Optionally, determining the motion trajectory of the workpiece processing apparatus includes: acquiring first characteristic information of the target object, wherein the first characteristic information represents information of the target object before processing; acquiring a processing strategy of the target object; and determining the motion trail based on the first characteristic information and the processing strategy.
Optionally, the smoothing processing on the motion trajectory includes: acquiring second characteristic information of the motion trail, wherein the second characteristic information represents the bending degree of the motion trail; when the motion trail is determined to meet the segmentation condition based on the second characteristic information, segmenting the motion trail based on the second characteristic information to obtain a plurality of line segments; identifying the line segments to obtain angle values between adjacent line segments in the line segments; determining a target line segment of the plurality of line segments based on an angle value between the neighboring line segments; and smoothing the target line segment.
Optionally, determining a target line segment of the plurality of line segments based on the angle values between the adjacent line segments comprises: comparing the angle values between the adjacent line segments with a preset angle value respectively to obtain comparison results; and determining a partial line segment of which the angle value between the adjacent line segments is smaller than the preset angle value in the comparison result as the target line segment.
Optionally, the smoothing processing on the target line segment includes: determining characteristic points of the target line segment; and smoothing the target line segment based on the characteristic points and the Bezier curve.
Optionally, controlling the workpiece processing device to move according to the motion trajectory after the smoothing processing so as to perform a processing operation on the target object, including: determining the running speed of a driving part based on the motion trail after the smoothing processing; and controlling the driving part to run at the running speed so as to drive the workpiece processing equipment to move according to the motion trail after the smoothing treatment, so as to execute processing operation on the target object.
Optionally, the method for controlling the workpiece processing apparatus further includes: acquiring running state information of the workpiece processing equipment in real time; and generating alarm information when the workpiece processing equipment is determined to be abnormal based on the running state information, wherein the alarm information is used for prompting that the workpiece processing equipment is abnormal.
Optionally, the method for controlling the workpiece processing apparatus further includes: and controlling the workpiece processing equipment to move according to the motion trail after the smoothing processing so as to execute processing operation on the target object, and simultaneously sending the actual moving path of the workpiece processing equipment to display the actual moving path by using the display equipment.
According to another aspect of the embodiments of the present invention, there is also provided a control device of a workpiece processing apparatus, including: the device comprises a determining module, a processing module and a processing module, wherein the determining module is used for determining a motion track of workpiece processing equipment, the motion track is a moving path of the workpiece processing equipment when the workpiece processing equipment performs processing operation on a target object, and the target object is an object to be processed of the workpiece processing equipment; the smoothing module is used for smoothing the motion track to obtain a smoothed motion track; and the control module is used for controlling the workpiece processing equipment to move according to the motion trail after the smoothing treatment so as to execute processing operation on the target object.
Optionally, the determining module includes: a first determining unit, configured to acquire first feature information of the target object, where the first feature information represents information of the target object before processing; a first obtaining unit, configured to obtain a processing strategy of the target object; and the second determining unit is used for determining the motion track based on the first characteristic information and the processing strategy.
Optionally, the smoothing module includes: a second acquiring unit configured to acquire second characteristic information of the motion trajectory, where the second characteristic information indicates a degree of curvature of the motion trajectory; the segmentation unit is used for segmenting the motion trail based on the second characteristic information to obtain a plurality of line segments when the motion trail is determined to meet the segmentation condition based on the second characteristic information; the identification unit is used for identifying the line segments to obtain angle values between adjacent line segments in the line segments; a third determining unit configured to determine a target line segment of the plurality of line segments based on an angle value between the adjacent line segments; and the smoothing unit is used for smoothing the target line segment.
Optionally, the third determining unit includes: the comparison pair sub-unit is used for comparing the angle values between the adjacent line segments with a preset angle value respectively to obtain comparison results; a first determining subunit, configured to determine, as the target line segment, a partial line segment, in the comparison result, where an angle value between the adjacent line segments is smaller than the predetermined angle value.
Optionally, the smoothing unit includes: the second determining subunit is used for determining the characteristic points of the target line segment; and the smoothing subunit is used for smoothing the target line segment based on the feature points and the Bezier curve.
Optionally, the control module includes: a fourth determination unit configured to determine an operation speed of the driving member based on the smoothed motion trajectory; and the control unit is used for controlling the driving part to run at the running speed so as to drive the workpiece processing equipment to move according to the motion trail after the smoothing treatment, so as to execute processing operation on the target object.
Optionally, the control device of the workpiece processing apparatus further includes: the acquisition module is used for acquiring the running state information of the workpiece processing equipment in real time; and the alarm module is used for generating alarm information when the workpiece processing equipment is determined to be abnormal based on the running state information, wherein the alarm information is used for prompting that the workpiece processing equipment is abnormal.
Optionally, the control device of the workpiece processing apparatus further includes: and the display module is used for controlling the workpiece processing equipment to move according to the motion track after the smoothing processing so as to execute processing operation on the target object, and meanwhile, sending the actual moving path of the workpiece processing equipment to the display equipment so as to display the actual moving path by utilizing the display equipment.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the apparatus in which the computer-readable storage medium is located is controlled to execute the method for controlling a workpiece processing apparatus according to any one of the above.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, wherein the computer program is executed to execute the control method of the workpiece processing apparatus according to any one of the above.
In the embodiment of the invention, the motion trail of the workpiece processing equipment is determined, wherein the motion trail is a moving path of the workpiece processing equipment when the workpiece processing equipment performs processing operation on a target object, and the target object is an object to be processed of the workpiece processing equipment; smoothing the motion trail to obtain a smoothed motion trail; and controlling the workpiece processing equipment to move according to the motion track after the smoothing treatment so as to execute processing operation on the target object. By the control method of the workpiece processing equipment, the purpose of calling the smoothing algorithm to control the workpiece processing equipment to execute the processing operation according to the motion track after smoothing after the motion track of the processing equipment is determined is achieved, so that the technical effect of improving the processing speed and efficiency of the workpiece is achieved, and the technical problems that the processing moving track is abnormal and the reliability is low in the scene of high curvature points and sharp corner points when the workpiece is processed in the related technology are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a control method of a workpiece processing apparatus according to an embodiment of the present invention;
FIG. 2(a) is a schematic diagram of a quadratic Bezier algorithm motion according to an embodiment of the present invention;
FIG. 2(b) is a schematic diagram of a cubic Bessel algorithm motion according to an embodiment of the present invention;
FIG. 3 is a flow chart of quadratic Bezier algorithm path planning according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a logic implementation of a Bezier corner smoothing algorithm based on a multi-core heterogeneous ARM according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a control device of the workpiece processing apparatus according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For convenience of description, some nouns or terms appearing in the embodiments of the present invention are explained below.
A human-computer Interface (GUI) refers to a computer operation User Interface displayed in a Graphical manner.
Bezier Curve (Bezier Curve for short) is an interpolation or path planning algorithm that is easy to use in numerical control technology. The realization principle is that a curve is tangent to a broken line of a starting point and an ending point through the starting point and the ending point, and the curve can determine the posture of the curve according to the tangential direction of the starting point and the ending point of the curve when the curve is applied to the smooth corner of path planning, so the curve is widely used in the numerical control technology.
An application development framework (QT) is a cross-platform C + + GUI application development framework developed by the QT Company, which can be used to develop GUI programs and also to develop non-GUI programs, such as console tools and servers.
Digital Signal Processing (DSP) is a Signal Processing method that uses a computer or a dedicated Processing device to perform Processing such as acquisition, transformation, filtering, estimation, enhancement, compression, identification, etc. on a Signal in a Digital form to obtain a Signal meeting the needs of a user.
The Linux operating system (called Linux for short) is an operating system which is free to try out and spread freely.
An ARM processor (ARM) is a first RISC (reduced instruction set) microprocessor designed by Acorn, uk, with low power consumption and low cost.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a method of controlling a workpiece processing apparatus, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a flowchart of a control method of a workpiece processing apparatus according to an embodiment of the present invention, which includes the steps of:
step S102, determining a motion track of the workpiece processing equipment, wherein the motion track is a moving path of the workpiece processing equipment when the workpiece processing equipment executes processing operation on a target object, and the target object is an object to be processed of the workpiece processing equipment.
Optionally, the motion trajectory of the processing device (i.e., the workpiece processing device in the context) in the above step is divided into a point location control trajectory, a linear control trajectory, and a contour control trajectory, and the embodiment of the present invention mainly relates to a trajectory control trajectory, that is, the processing device can perform continuous and related control on two or more axes, and not only can control a start point and an end point of movement of the processing device, but also can control a speed, an acceleration, and a displacement distance of each point in the whole processing process, that is, control a trajectory of movement of the processing device, thereby implementing fine processing of the object to be processed.
And step S104, smoothing the motion track to obtain a motion track after smoothing.
Optionally, in the field of machining automation, the smoothing in the above steps generally uses an arc transition method to process the speeds at the corners of two adjacent motion vectors, the radius of a small transition arc can be automatically adjusted according to the change of the machining precision, and the speed at the corners is limited by limiting the maximum speed of machining the small transition arc.
And S106, controlling the workpiece processing equipment to move according to the motion trail after the smoothing treatment so as to execute processing operation on the target object.
As can be seen from the above, in the embodiment of the present invention, a motion trajectory of the workpiece processing apparatus may be first determined, where the motion trajectory is a moving path of the workpiece processing apparatus when performing a processing operation on a target object, and the target object is an object to be processed of the workpiece processing apparatus; then, smoothing the motion trail to obtain a smoothed motion trail; and finally, controlling the workpiece processing equipment to move according to the motion track after the smoothing treatment so as to execute processing operation on the target object, and achieving the purpose of calling a smoothing algorithm to control the workpiece processing equipment to execute the processing operation according to the motion track after the smoothing treatment after the motion track of the processing equipment is determined, thereby realizing the technical effect of improving the processing speed and efficiency of the workpiece.
The control method of the workpiece processing equipment provided by the embodiment of the invention further solves the technical problems that the processing moving track condition is abnormal and the reliability is low in the scene of high curvature points and sharp corner points when the workpiece is processed in the related technology.
As an alternative embodiment, in step S102, determining the motion trajectory of the workpiece processing apparatus includes: acquiring first characteristic information of a target object, wherein the first characteristic information represents information of the target object before processing; acquiring a processing strategy of a target object; and determining the motion track based on the first characteristic information and the processing strategy.
In this embodiment, the first characteristic information may include, but is not limited to, position information, contour information, appearance size information, surface flatness information, material information, and the like of the object to be processed (i.e., the target object).
In the above optional embodiment, the processing strategy refers to an operation mode when the object to be processed is processed into the target product by using the processing device.
As an alternative embodiment, in step S104, the smoothing process is performed on the motion trajectory, and includes: acquiring second characteristic information of the motion trail, wherein the second characteristic information represents the bending degree of the motion trail; when the motion trail is determined to meet the segmentation condition based on the second characteristic information, segmenting the motion trail based on the second characteristic information to obtain a plurality of line segments; identifying the multiple line segments to obtain an angle value between adjacent line segments in the multiple line segments; determining a target line segment of the plurality of line segments based on the angle values between adjacent line segments; and smoothing the target line segment.
In the above alternative embodiment, the degree of curvature of the motion trajectory indicated by the second characteristic information may be indicated by a curvature.
In the above optional embodiment, the segmentation condition is that when the curvature of the motion trajectory path is greater than a preset threshold, the segmentation condition is satisfied.
As an alternative embodiment, determining a target line segment of the plurality of line segments based on the angle values between adjacent line segments includes: comparing the angle values between the adjacent line segments with a preset angle value respectively to obtain comparison results; and determining a part of line segments of which the angle values between the adjacent line segments are smaller than the preset angle value in the comparison result as target line segments.
In the above alternative embodiment, the predetermined angle value may be a preset acute angle.
As an alternative embodiment, the smoothing process performed on the target line segment includes: determining characteristic points of the target line segment; and smoothing the target line segment based on the characteristic points and the Bezier curve.
FIG. 2(a) is a schematic diagram of the quadratic Bezier algorithm motion according to the embodiment of the invention, and as shown in FIG. 2(a), to construct the quadratic Bezier curve, P is first given0、P1、P2Three points and possibly also by means of an intermediate point Q0And Q1T as a whole from 0 to 1, from P0To P1Continuous point Q of0To describe a linear bezier curve; then is composed of P1To P2Continuous point Q of1Describing a linear bezier curve; finally, by Q0To Q1Describes a quadratic bezier curve. The expression of the quadratic Bezier curve algorithm is as follows: b (t) ═ (1-t)2P0+2t(1-t)P1+t2P2，t∈[0，1]。
Fig. 2(b) is a schematic diagram of the motion of the cubic bezier algorithm according to the embodiment of the present invention, and as shown in fig. 2(b), for the cubic bezier curve, the cubic bezier curve is defined in a plane or in a three-dimensional space by four points P0, P1, P2, and P3. The curve starts from P0 to P1 and goes from the direction of P2 to P3. Generally does not pass through P1 or P2; these two points only provide directional information there. The spacing between P0 and P1 determines how long the curve is displaced in the direction of P2 before turning to P3. The expression of the cubic Bezier curve algorithm is as follows:B(t)＝P01-t3+3P1t(1-t)2+3P2t2(1-t)+p3t3，t∈[0，1]。
fig. 3 is a flowchart of path planning of a quadratic bezier algorithm according to an embodiment of the present invention, and as shown in fig. 3, it is first calculated how many small line segments the curve at the corner junction is divided into according to the three points that are transmitted in, where 1mm may be selected to be divided into one segment according to project requirements, and may also be modified and optimized according to specific uses, and then a linear interpolation motion algorithm is executed in each small line segment. The practical significance is that a coarse interpolation motion control algorithm based on bezier and a pulse increment type accurate pulse increment interpolation algorithm are completed to ensure that the precision reaches one pulse number.
As an alternative embodiment, in step S106, controlling the workpiece processing apparatus to move according to the motion trajectory after the smoothing processing, so as to perform a processing operation on the target object, includes: determining the running speed of the driving part based on the motion trail after the smoothing processing; and controlling the driving part to run at the running speed so as to drive the workpiece processing equipment to move according to the motion trail after the smoothing treatment, so as to execute the processing operation on the target object.
In the above alternative embodiment, the determination of the operation speed of the driving member based on the motion trajectory after the smoothing process is to prevent the operation speed from being too fast when the workpiece processing apparatus processes the workpiece, which results in the influence on the processing accuracy, and the operation speed from being too slow when the workpiece processing apparatus processes the workpiece, which results in the influence on the processing speed and the processing efficiency.
As an alternative embodiment, the control method of the workpiece processing apparatus further includes: acquiring running state information of workpiece processing equipment in real time; and when the workpiece processing equipment is determined to be abnormal based on the running state information, generating alarm information, wherein the alarm information is used for prompting the workpiece processing equipment to be abnormal.
In the above optional embodiment, when the operation of the workpiece processing equipment is abnormal, a technician is prompted to overhaul the equipment in the modes of an alarm indicator lamp or an alarm buzzer and the like, so that the safety of the equipment is improved.
As an alternative embodiment, the control method of the workpiece processing apparatus further includes: and controlling the workpiece processing equipment to move according to the motion trail after the smoothing processing so as to execute processing operation on the target object, and simultaneously sending the actual moving path of the workpiece processing equipment to the display equipment so as to display the actual moving path by using the display equipment.
Fig. 4 is a schematic diagram of a logic implementation of a bezier corner smooth transition algorithm based on a multi-core heterogeneous ARM according to an embodiment of the present invention, as shown in fig. 4, in an embodiment of the present invention, first, an operating parameter of a processing device is set through a human-computer interface (GUI), then, a task is scheduled through an ARM Cortex-a15(a15) core running on an RT-Linux system, and a bezier algorithm and a motor driver are run with a DSP core with a relatively strong floating-point number operation capability, and a motor drive is completed.
It should be noted that, in the embodiment of the present invention, the human-computer interaction interface is designed based on QT, and mainly includes parameter settings implemented by bezier curves, including but not limited to a start position coordinate, an end position coordinate, and a middle control point coordinate; the QT interface also has the functions of speed setting of a motor, motor movement axis selection and the like in the curve operation process; the functions of monitoring the running speed of the motor, the running state of the motor, displaying a real-time path, detecting abnormal alarms and the like are realized in real time, and the effective communication between a human and a machine is facilitated.
Further, in the above embodiment, the motor driver is directly connected to the motor driver, and includes an interface function for controlling the operation of the motor, such as moving a motor motion speed control interface, a motor operation direction I/O port, a motor band-type brake, and the like, and controlling the opening and closing of the structure axis motion file descriptor, the motor point motion, the calculation of the current motion step number of the motor, and the like.
As can be seen from the above, in the embodiment of the present invention, the a15 core is used as a task scheduling function and a DSP core operation algorithm on a hardware platform by using a corner smooth transition algorithm of an ARM processor based on a multi-core heterogeneous AM5728, so that the method can be developed as an embedded general motion controller, which reduces the cost of PC-based motion control, and improves and ensures the real-time performance, stability and reliability of system operation while exerting the advantages of the algorithm itself. On the other hand, the operating system selects RT-Linux, and under a high-performance processor platform, the real-time performance of algorithm research is further improved, and the code is convenient to maintain and transplant. Finally, through the research of Bezier corner smooth transition algorithm, the function approximation is combined with the geometric representation, the symmetry and the convex hull are relatively good, the method is suitable for mechanical action inertia action in motion path planning, the high-speed smooth action of mechanical motion at a sharp corner point is ensured, the repeated acceleration and deceleration motion of the sharp corner point in the path planning is avoided, the time is saved, and the measurement efficiency is improved.
Example 2
According to another aspect of the embodiments of the present invention, there is also provided a control device of a workpiece processing apparatus, fig. 5 is a schematic view of the control device of the workpiece processing apparatus according to the embodiments of the present invention, as shown in fig. 5, the control device of the workpiece processing apparatus includes: a determination module 51, a smoothing module 53, and a control module 55. The following describes a control device of the workpiece processing apparatus.
The determining module 51 is configured to determine a motion trajectory of the workpiece processing apparatus, where the motion trajectory is a moving path of the workpiece processing apparatus when the workpiece processing apparatus performs a processing operation on a target object, and the target object is an object to be processed of the workpiece processing apparatus.
And a smoothing module 53, configured to perform smoothing on the motion trajectory to obtain a motion trajectory after the smoothing.
And the control module 55 is used for controlling the workpiece processing equipment to move according to the motion trail after the smoothing processing so as to execute processing operation on the target object.
It should be noted here that the determining module 51, the smoothing module 53 and the control module 55 correspond to steps S102 to S106 in embodiment 1, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of embodiment 1. It should be noted that the modules described above as part of an apparatus may be implemented in a computer system such as a set of computer-executable instructions.
As can be seen from the above, in the embodiment of the present invention, the determining module 51 may be first utilized to determine the motion trajectory of the workpiece processing apparatus, where the motion trajectory is a moving path of the workpiece processing apparatus when performing a processing operation on a target object, and the target object is an object to be processed of the workpiece processing apparatus; then, smoothing the motion track by using a smoothing module 53 to obtain a motion track after smoothing; and finally, the control module 55 is used for controlling the workpiece processing equipment to move according to the motion trail after the smoothing processing so as to execute processing operation on the target object. The control device of the workpiece processing equipment provided by the embodiment of the invention achieves the aim of calling the smoothing algorithm to control the workpiece processing equipment to execute the processing operation according to the motion track after smoothing after the motion track of the processing equipment is determined, thereby realizing the technical effect of improving the processing speed and efficiency of the workpiece, and further solving the technical problems of abnormal processing motion track condition and lower reliability caused in the scenes of high curvature points and sharp corner points when the workpiece is processed in the related technology.
Optionally, the control device of the workpiece processing apparatus further includes: the first determining unit is used for acquiring first characteristic information of the target object, wherein the first characteristic information represents information of the target object before processing; the first acquisition unit is used for acquiring a processing strategy of a target object; and the second determining unit is used for determining the motion track based on the first characteristic information and the processing strategy.
Optionally, the control device of the workpiece processing apparatus further includes: a second acquisition unit configured to acquire second characteristic information of the motion trajectory, wherein the second characteristic information indicates a degree of curvature of the motion trajectory; the segmentation unit is used for segmenting the motion trail based on the second characteristic information to obtain a plurality of line segments when the motion trail is determined to meet the segmentation condition based on the second characteristic information; the identification unit is used for identifying the line segments to obtain the angle value between the adjacent line segments in the line segments; a third determining unit configured to determine a target line segment of the plurality of line segments based on an angle value between adjacent line segments; and the smoothing unit is used for smoothing the target line segment.
Optionally, the control device of the workpiece processing apparatus further includes: the comparison subunit is used for comparing the angle values between the adjacent line segments with the preset angle values respectively to obtain comparison results; and the first determining subunit is used for determining a part of line segments, of which the angle values between adjacent line segments are smaller than a preset angle value, in the comparison result as target line segments.
Optionally, the control device of the workpiece processing apparatus further includes: the second determining subunit is used for determining the characteristic points of the target line segment; and the smoothing subunit is used for smoothing the target line segment based on the characteristic points and the Bezier curve.
Optionally, the control device of the workpiece processing apparatus further includes: a fourth determination unit configured to determine an operation speed of the driving member based on the motion trajectory after the smoothing processing; and the control unit is used for controlling the driving part to run at the running speed so as to drive the workpiece processing equipment to move according to the motion trail after the smoothing processing, so that the processing operation is executed on the target object.
Optionally, the control device of the workpiece processing apparatus further includes: the acquisition module is used for acquiring the running state information of the workpiece processing equipment in real time; and the alarm module is used for generating alarm information when the workpiece machining equipment is determined to be abnormal based on the running state information, wherein the alarm information is used for prompting that the workpiece machining equipment is abnormal.
Optionally, the control device of the workpiece processing apparatus further includes: and the display module is used for controlling the workpiece processing equipment to move according to the motion trail after the smoothing processing so as to execute processing operation on the target object, and meanwhile, sending the actual moving path of the workpiece processing equipment to the display equipment so as to display the actual moving path by utilizing the display equipment.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the apparatus in which the computer-readable storage medium is stored is controlled to execute the method of controlling a workpiece processing apparatus of any one of the above.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, wherein the computer program is executed to execute the control method of the workpiece processing apparatus according to any one of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (11)
1. A method of controlling a workpiece processing apparatus, comprising:
determining a motion track of workpiece processing equipment, wherein the motion track is a moving path of the workpiece processing equipment when the workpiece processing equipment performs processing operation on a target object, and the target object is an object to be processed of the workpiece processing equipment;
smoothing the motion trail to obtain a smoothed motion trail;
and controlling the workpiece processing equipment to move according to the motion trail after the smoothing processing so as to execute processing operation on the target object.
2. The method of claim 1, wherein determining a motion profile of the workpiece processing tool comprises:
acquiring first characteristic information of the target object, wherein the first characteristic information represents information of the target object before processing;
acquiring a processing strategy of the target object;
and determining the motion trail based on the first characteristic information and the processing strategy.
3. The method of claim 1, wherein smoothing the motion trajectory comprises:
acquiring second characteristic information of the motion trail, wherein the second characteristic information represents the bending degree of the motion trail;
when the motion trail is determined to meet the segmentation condition based on the second characteristic information, segmenting the motion trail based on the second characteristic information to obtain a plurality of line segments;
identifying the line segments to obtain angle values between adjacent line segments in the line segments;
determining a target line segment of the plurality of line segments based on an angle value between the neighboring line segments;
and smoothing the target line segment.
4. The method of claim 3, wherein determining a target line segment of the plurality of line segments based on the angle values between the neighboring line segments comprises:
comparing the angle values between the adjacent line segments with a preset angle value respectively to obtain comparison results;
and determining a partial line segment of which the angle value between the adjacent line segments is smaller than the preset angle value in the comparison result as the target line segment.
5. The method of claim 3, wherein smoothing the target line segment comprises:
determining characteristic points of the target line segment;
and smoothing the target line segment based on the characteristic points and the Bezier curve.
6. The method according to any one of claims 1 to 5, wherein controlling the workpiece processing apparatus to move according to the smoothed motion trajectory to perform a processing operation on the target object comprises:
determining the running speed of a driving part based on the motion trail after the smoothing processing;
and controlling the driving part to run at the running speed so as to drive the workpiece processing equipment to move according to the motion trail after the smoothing treatment, so as to execute processing operation on the target object.
7. The method according to any one of claims 1 to 5, further comprising:
acquiring running state information of the workpiece processing equipment in real time;
and generating alarm information when the workpiece processing equipment is determined to be abnormal based on the running state information, wherein the alarm information is used for prompting that the workpiece processing equipment is abnormal.
8. The method according to any one of claims 1 to 5, further comprising:
and controlling the workpiece processing equipment to move according to the motion trail after the smoothing processing so as to execute processing operation on the target object, and simultaneously sending the actual moving path of the workpiece processing equipment to display the actual moving path by using the display equipment.
9. A control device of a workpiece processing apparatus, characterized by comprising:
the device comprises a determining module, a processing module and a processing module, wherein the determining module is used for determining a motion track of workpiece processing equipment, the motion track is a moving path of the workpiece processing equipment when the workpiece processing equipment performs processing operation on a target object, and the target object is an object to be processed of the workpiece processing equipment;
the smoothing module is used for smoothing the motion track to obtain a smoothed motion track;
and the control module is used for controlling the workpiece processing equipment to move according to the motion trail after the smoothing treatment so as to execute processing operation on the target object.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program, wherein the computer program, when executed by a processor, controls an apparatus in which the computer-readable storage medium is located to perform the method of controlling a workpiece processing apparatus according to any one of claims 1 to 8.
11. A processor for executing a computer program, wherein the computer program is configured to execute the method of controlling a workpiece processing apparatus according to any one of claims 1 to 8.
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