CN115097786B - Processing track optimization method and equipment based on convolution line and storage medium - Google Patents
Processing track optimization method and equipment based on convolution line and storage medium Download PDFInfo
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- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
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Abstract
The application belongs to the technical field of program control, and particularly relates to a processing track optimization method, equipment and a storage medium based on a convolution line, wherein the method comprises the following steps: determining information of a track to be optimized based on pre-acquired workpiece graph information, wherein the track to be optimized comprises an initial straight-line segment and a half circular arc connected with the initial straight-line segment in an initial circular arc; fitting the convolution line serving as a transition curve at the tangent position of the initial straight line segment and the initial circular arc to obtain a convolution line track; carrying out speed planning and interpolation on the convolution trajectory to determine an interpolation point; and mapping the interpolation points to a workpiece coordinate system to obtain position points, and controlling the processing track of the digital control system based on the position points. According to the method, the arc part is cut by a straight line and is transited by a convolution line, so that the curvature of the arc part becomes continuous, the sudden change of the normal acceleration in the high-speed laser cutting process is eliminated, the cutting stability is ensured, and the processing chattering marks generated by the sudden change of the normal acceleration during processing are eliminated.
Description
Technical Field
The application belongs to the technical field of program control, and particularly relates to a machining track optimization method based on a convolution line.
Background
With the increase of modeling complexity, many product designs adopt curve surface modeling, and a numerical control system generates sudden speed change in the processing process, so that the stability of the movement of a cutter is necessarily realized through track optimization.
Generally, when a numerical control system processes a circular arc by planar laser cutting, normal acceleration is generated, and sudden change of the normal acceleration is generated at the tangent position of a straight line and the circular arc. When laser high-speed cutting is carried out, the machine tool is vibrated due to large jump quantity of acceleration, and chatter marks appear in machining, so that the requirements of modern high-speed and high-precision machining are difficult to adapt.
Therefore, how to eliminate the abrupt change of the normal acceleration in the high-speed laser cutting process and eliminate the processing chatter marks generated thereby becomes an urgent technical problem to be solved.
Disclosure of Invention
Technical problem to be solved
In view of the above-mentioned shortcomings and drawbacks of the prior art, the present application provides a method, an apparatus and a readable storage medium for optimizing a machining trajectory based on a clothoid.
(II) technical scheme
In order to achieve the purpose, the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for optimizing a processing trajectory based on a clothoid, where the method includes:
determining information of a track to be optimized based on pre-acquired workpiece graph information, wherein the track to be optimized comprises an initial straight-line segment and a half circular arc connected with the initial straight-line segment in an initial circular arc;
fitting a convolution line serving as a transition curve at the tangent position of the initial straight line segment and the initial circular arc to obtain a convolution line track;
carrying out speed planning and interpolation on the convoluted line track, and determining an interpolation point;
and mapping the interpolation points to a workpiece coordinate system to obtain position points, and controlling the processing track of the digital control system based on the position points.
Optionally, fitting a clothoid as a transition curve where the initial straight segment is tangent to the initial circular arc comprises:
calculating relevant parameters of a convolution line based on the geometric information of the initial circular arc and a given fitting error;
and fitting a convolution line at the tangent position of the initial straight line segment and the initial circular arc based on the calculated relevant parameters of the convolution line.
Optionally, calculating a relevant parameter of a convolution based on the geometric information of the initial circular arc and a given fitting error, including:
generating a fitting small circular arc based on the geometric information of the initial circular arc, wherein the fitting small circular arc is tangent to the initial circular arc at a position of one half of the middle of the initial circular arc, and the radius of the fitting small circular arc is as follows:
wherein the content of the first and second substances,rthe radius of the fitted small circular arc is,Ris the radius of the initial circular arc,δfor a given error in the fit, it is,
is half of the central angle of the initial circular arc;
obtaining a convolution line fitting included angle through binary iterative search according to the radius of the fitting small circular arc and the given fitting error, wherein the convolution line fitting included angle is an included angle between the radius direction of a curvature circle of the terminal point of the convolution line and the y axis;
calculating the length of the convolution line based on the fitting small arc radius and the convolution line fitting included angle:
calculating a clothoid parameter based on the clothoid length and the fitted small arc radius;
calculating the coordinates of a convolution line and a fitted small circular arc tangent point under a local coordinate system by a convolution line coordinate formula based on the convolution line parameters and the convolution line length;
and calculating the center coordinates of the fitting small circular arc under the local coordinate system based on the convolution line and the abscissa and the ordinate of the tangent point of the fitting small circular arc.
Optionally, obtaining a fitting included angle of the clothoid through dichotomy iterative search includes:
s1, iteratively searching a current convolution fitting included angle through a dichotomy, wherein the dichotomy searching range is not less than
Not greater than one-half of the central angle of the initial arc;
s2, calculating the length of the convolution line of the current iteration through a convolution line length formula based on the radius of the fitted small arc and the angle obtained by the current iteration search:
wherein the content of the first and second substances,rin order to fit the radius of the small arc,βfitting an included angle for a rotation line of the dichotomy current search iteration;
s3, calculating the convolution parameters of the current iteration based on the convolution length of the current iteration and the fitted small circular arc radius;
s4, calculating the coordinates of the cycloidal line and the tangent point of the fitted small circular arc under the local coordinate system of the current iteration through the cycloidal line coordinate formula based on the cycloidal line parameters and the cycloidal line length of the current iteration;
s5, calculating the fitting error of the convolution of the current search iteration through an inward shift value formula of a curvature circle corresponding to the point on the convolution based on the vertical coordinates of the convolution and the tangent point of the circular arc;
and S6, repeatedly executing the steps S1-S5 until the difference value of the fitting error and the given fitting error is smaller than the preset iteration precision, and taking the angle obtained by the dichotomy current iteration search as the final fitting included angle of the clothoid.
Optionally, fitting a clothoid line at the tangent of the straight line segment and the circular arc includes:
b1, dividing the track to be optimized, comprising the following steps:
when the current machining section is a straight line section and the next machining section is a circular arc, judging whether the straight line section is fitted:
if so, dividing the track to be optimized into three sections, wherein the first section is a straight-line section with the starting point as the end point of the last convolution line fitting and the end point as the starting point of the convolution line, the second section is the convolution line, the third section is an arc, the arc track is a fitting small arc, the starting point of the arc is the end point of the convolution line, and the end point is a half position point of the initial arc in the track to be optimized;
if not, dividing the track to be optimized into three sections: the first section is a straight section with a starting point of the initial straight section and an end point of a convolution line, the second section is a convolution line, the third section is an arc, the arc track is a fitting small arc, the starting point of the arc is the end point of the convolution line, and the end point is a half position point of the initial arc;
when the current machining section is an arc and the next section is a straight-line section, dividing the track to be optimized into two sections: the first section is an arc with a starting point of one half of the initial arc and an end point of the initial arc as a starting point of the convolution line, and the arc track is a fitting small arc; the second section is a convolution line; and marking that the next straight line segment has been fitted;
and B2, fitting the convolution line based on the relevant parameters of the convolution line.
Optionally, the radius of the arc is larger than a fitting limited radius, and the fitting limited radius is 0.5mm.
Optionally, when speed planning and interpolation are performed on the clothoid trajectory, the maximum planning speed is used as the limiting speed at the maximum curvature, and an S-type acceleration and deceleration algorithm is used for planning and interpolation.
Optionally, mapping the interpolation point into a workpiece coordinate system to obtain a position point, including:
s41, when the machining track passes through a convolution line from a straight line segment to a circular arc, calculating the interpolation length of the current interpolation, and calculating the coordinate of an interpolation point mapped to a local coordinate system based on the interpolation length and the convolution line parameters;
when the machining track is from a circular arc to a straight line segment through a clothoid, calculating the interpolation length of the current interpolation, and calculating the coordinate of the interpolation point mapped to the local coordinate system based on the interpolation length, the clothoid length and the clothoid parameter;
and S42, calculating the corresponding position point coordinates of the interpolation points in the workpiece coordinate system through conversion from the local coordinate system to the workpiece coordinate system.
In a second aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the method for optimizing a machining trajectory based on a clothoid according to any one of the first aspect above.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for optimizing a machining trajectory based on a clothoid according to any one of the above first aspects.
(III) advantageous effects
The beneficial effect of this application is: the application provides a processing track optimization method, equipment and a readable storage medium based on a convolution line, wherein the method comprises the following steps: determining information of a track to be optimized based on pre-acquired workpiece graph information, wherein the track to be optimized comprises an initial straight-line segment and a half circular arc connected with the initial straight-line segment in an initial circular arc; fitting the convolution line serving as a transition curve at the tangent position of the initial straight line segment and the initial circular arc to obtain a convolution line track; carrying out speed planning and interpolation on the convoluted line track to determine an interpolation point; and mapping the interpolation points to a workpiece coordinate system to obtain position points, and controlling the processing track of the digital control system based on the position points. According to the processing track optimization method, the circular arc part is cut by the straight line and is transited by the convolution line, so that the curvature of the circular arc part becomes continuous, the sudden change of the normal acceleration in the laser high-speed cutting process is eliminated, the cutting stability is ensured, and the processing chattering marks generated by the sudden change of the normal acceleration during processing are eliminated.
Drawings
The application is described with the aid of the following figures:
FIG. 1 is a schematic flow chart of a method for optimizing a machining trajectory based on a clothoid in an embodiment of the present application;
FIG. 2 is a flowchart of a clothoid fitting method for a clothoid-based processing trajectory optimization method according to another embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a solution for fitting a curvature circle of a clothoid to a small circular arc according to another embodiment of the present disclosure;
FIG. 4 is a comparison of a clothoid interpolation and an unfit trajectory in another embodiment of the present application;
FIG. 5 is a graph of X-axis and Y-axis acceleration during processing without clothoid fitting in another embodiment of the present application;
FIG. 6 is a graph of X-axis and Y-axis acceleration during processing using clothoid fitting in another embodiment of the present application;
fig. 7 is a schematic diagram of an architecture of an electronic device according to still another embodiment of the present application.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the following specific examples are illustrative of the invention only and are not to be construed as limiting the invention. In addition, it should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present application may be combined with each other; for convenience of description, only portions related to the invention are shown in the drawings.
The method is applied to a Computer Numerical Control (CNC) system, and particularly can be executed in a main Control device of the CNC system.
Example one
Fig. 1 is a schematic flow chart of a processing trajectory optimization method based on a clothoid in an embodiment of the present application, and as shown in fig. 1, the processing trajectory optimization method based on a clothoid in the embodiment includes:
s10, determining information of a track to be optimized based on pre-acquired workpiece graph information, wherein the track to be optimized comprises an initial straight-line segment and a half circular arc connected with the initial straight-line segment in an initial circular arc;
s20, fitting the convolution line serving as a transition curve at the tangent position of the initial straight line segment and the initial circular arc to obtain a convolution line track;
s30, carrying out speed planning and interpolation on the convoluted line track, and determining interpolation points;
and S40, mapping the interpolation points to a workpiece coordinate system to obtain position points, and controlling the processing track of the digital control system based on the position points.
According to the processing track optimization method based on the convolution line, the curvature of the processing track is continuous through the transition of the convolution line at the position of a straight tangent circular arc, the sudden change of the normal acceleration in the laser high-speed cutting process is eliminated, the cutting stability is ensured, and the processing chatter marks generated by the sudden change of the normal acceleration in the processing process are eliminated.
In order to better understand the present invention, the steps in the present embodiment are explained below.
In this embodiment S10, the workpiece image information is graphic information of a workpiece to be processed, a to-be-processed trajectory of the workpiece to be processed includes a straight line segment and an arc connected to the straight line segment, and the straight line segment is tangent to the arc. The other end of the circular arc can be connected with the straight line segment and can also be connected with another circular arc. Therefore, the trajectory optimization of the middle arc takes into account not only the straight line segment at one end, but also the straight line segment/arc at the other end. The method is used for optimizing the track at the tangent position of the straight line segment and the circular arc, so that the half circular arc connected with the straight line segment in the straight line segment and the circular arc is used as the track to be optimized.
In this embodiment S20, fitting the convolution line as the transition curve at the tangent of the initial straight-line segment and the initial circular arc includes:
calculating relevant parameters of the convolution line based on the geometric information of the initial circular arc and a given fitting error;
and fitting the convolution at the tangent position of the initial straight line segment and the initial circular arc based on the calculated relevant parameters of the convolution.
Specifically, the relevant parameters of the convolution include fitting of a fitting included angle of the convolution, wherein the fitting included angle of the convolution is an included angle between the radius direction of a curvature circle of the terminal point of the convolution and the y axis; the method comprises the following steps of (1) length of a convolution line, parameters of the convolution line, coordinates of tangent points of the convolution line and a fitting small arc under a local coordinate system, coordinates of the center of the fitting small arc, and radius of the fitting small arc, wherein the fitting small arc is an arc of a curvature circle of the convolution line.
In this embodiment S30, when performing speed planning and interpolation on the trajectory of the clothoid, the maximum planned speed is used as the limiting speed at the maximum curvature, and an S-type acceleration and deceleration algorithm is used to perform planning interpolation on the target motion segment.
It should be noted that the above S-type acceleration and deceleration algorithm is only an exemplary one, and in some other embodiments, other algorithms may be adopted, for example, a straight-line acceleration and deceleration algorithm and an exponential acceleration and deceleration algorithm, and this embodiment does not constitute a specific limitation on the acceleration and deceleration algorithm.
In this embodiment S40, mapping the interpolation points to the workpiece coordinate system to obtain the position points, includes:
s41, when the processing track is from the straight line segment to the circular arc through the convolution line, calculating the interpolation length of the current interpolationL 1 Based on the interpolation length, the coordinates mapped to the interpolation point in the local coordinate system are calculated by the following formula (1):
wherein A is a convolution parameter,x，yrespectively, the horizontal and vertical coordinates of the interpolation point in the local coordinate system.
When the processing track is from the circular arc to the straight line segment through the convolution line, the interpolation length of the current interpolation is calculatedL 1 Based on the interpolation length and the convolution length, the coordinates mapped to the interpolation points in the local coordinate system are calculated by the following formula (2):
wherein the content of the first and second substances,L s is the length of the clothoid line.
And S42, calculating the corresponding position point coordinates of the interpolation points in the workpiece coordinate system through conversion from the local coordinate system to the workpiece coordinate system.
In this embodiment, the local coordinate system is that a position where the convolution line intersects with the initial straight line segment is taken as an origin, a straight line where the initial straight line segment is located is an x-axis, a positive direction of the x-axis is a direction in which the origin points to the convolution line, a y-axis is perpendicular to the x-axis, and a positive direction of the y-axis points to one side of the initial arc. The workpiece coordinate system refers to the coordinate position of the machined part set in the actual machining process, and can be determined by the G code.
Example two
The execution main body of this embodiment may be a control module of the numerical control system, the control module may include a memory and a processor, and in some other embodiments, the execution main body may also be other electronic devices that can implement the same or similar functions, which is not limited in this embodiment.
In this embodiment, a process of fitting a convolution line as a transition curve at a tangent of a straight line segment and a circular arc is described in detail based on the first embodiment.
Fig. 2 is a flowchart of a convolution fitting process of a method for optimizing a machining trajectory based on a convolution in another embodiment of the present application, and as shown in fig. 2, the fitting process includes the following steps:
a1, setting a fitting error sigma according to external input, and turning to A2;
step A2, obtaining processing graph information, judging whether a current straight line is tangent to an arc or not, and turning to step A3 if the current straight line is tangent to the arc; if not, turning to the step A8;
step A3, judging whether the radius of the circular arc to be fitted is larger than the fitting limited radiusr 0 If yes, turning to the step A4; if not, turning to the step A8; wherein, the fitting limited radius value is 0.5mm, namely the radius of the original circular arc is required to be more than 0.5mm during fitting. Because the fitting radius is too small, the processing optimization effect is not obvious, and the fitting is not performed on the radius smaller than 0.5 mm;
step A4, calculating the information of the fitting small arc through the radius of the arc, calculating the information of the convolution line through the dichotomy, and judging whether the dichotomy can search the corresponding arcβIf yes, turning to the step A5, otherwise, turning to the step A8;
step A5, judging whether the circle center abscissa value of the fitting small arc under the local coordinate system is less than one fourth of the length of the fitting straight line, if so, turning to step A6; if not, turning to the step A8;
step A6, judging whether a fitting position point where the convolution line is tangent to the fitting small arc is in a fitting small arc sector area, if so, turning to step A7; if not, the convolution line and the fitting small circular arc can not be fitted, and the step A8 is switched;
step A7, fitting a convolution line at the tangent position of the straight line and the arc;
and step A8, fitting a convolution line at the tangent position of the straight line and the circular arc.
The above is further explained below. In the following description, a straight line segment in the trajectory to be optimized is referred to as an initial straight line segment, and a circular arc in the trajectory to be optimized is referred to as an initial circular arc.
In step A4 of this embodiment, calculating the information of the fitting small arc through the arc radius includes:
and making a new arc tangent at a half position of the initial arc, which is called a fitting small arc, wherein the fitting small arc is a curvature circle of a convolution line. The radius of the fitted small arc is calculated by the following formula (3):
wherein the content of the first and second substances,rin order to fit the radius of the small arc,Ris the radius of the initial circular arc,δfor a given error in the fit, it is,
is one half of the central angle of the initial arc.
One boundary point of the fitting small circular arc is a tangent position with the initial circular arc, the fitting small circular arc is in the same direction with the initial circular arc, and the other boundary point is the fitting small circular arc contained in the radial angle range of the initial circular arc.
Obtaining a fitting included angle of a convolution line through binary iterative search according to the information of the fitting small circular arc and a given fitting errorβAngle of fit of the convolutionβCurve being the end point of the convolutionThe included angle between the radius direction of the circle and the y axis. The range of the binary search can be set by self, but should not be less than
And at the same time should not be greater than one-half the central angle of the initial arc.
FIG. 3 is a schematic diagram of a solution to fit a small arc of a circle connected to a clothoid in another embodiment of the present application; as shown in fig. 3, the machining section is composed of an initial straight line segment MB and an initial circular arc BE, wherein the initial straight line segment is tangent to the initial circular arc at point B. The center of the initial arc isOThe center of the fitted small circular arc isO’The tangent point of the fitting small circular arc DF and the initial circular arc BE isFFitting a small arc radius of
Angle of rotation
Is one half of the central angle of the initial circular arc BE. CO 'parallel to BO, and the central angle of the arc D' F is
。
Calculating the length of the convolution line of the current iteration by the convolution line length formula shown in the following formula (4)L s ：
Wherein the content of the first and second substances,rin order to fit the radius of the small arc,βfitting an included angle for a convolution line obtained by binary iterative search;
based on the convolution length of the current iteration and the radius of the fitted small arc, calculating a convolution parameter A of the current search iteration by the following formula (5):
based on the current iteration convolution parameter A and the convolution length, calculating the tangent point of the convolution and the fitted small circular arc under the local coordinate system of the current search iteration through a convolution coordinate formula shown in the following formula (6)PThe coordinates of (a):
based on the vertical coordinates of the tangent points of the convolution line and the fitting small arc, calculating the fitting error of the convolution line of the current search iteration through the formula of the inward shift value of the curvature circle corresponding to the point on the convolution linepThe formula of the interpolation value is formula (7):
taking the following formula (8) as an iteration termination condition, and taking an angle obtained by the current iteration search of the dichotomy as a final convolution fitting included angle:
wherein the content of the first and second substances,δfor a given error in the fit, it is,εis the iteration precision.
Based on the fitting included angle of the convolution obtained by binary search, the length of the convolution line, the parameters of the convolution line and the coordinates of the tangent point of the convolution line and the fitting small circular arc under a local coordinate system are calculated through formulas (4) to (6) respectively.
Based on the abscissa and ordinate of the tangent point of the convolution line and the fitted small arc, calculating a curvature circle corresponding to the tangent point in the local coordinate system by the following formula (9), namely, the center coordinate of the fitted small arc:
wherein, the first and the second end of the pipe are connected with each other,x m 、y m respectively an abscissa and an ordinate of the center of the fitting small circular arc,βfitting an included angle for the convolution obtained by searching.
In step A7 of this embodiment, fitting a convolution line at a tangent of the straight line segment and the circular arc includes:
b1, dividing the track to be optimized, comprising the following steps:
when the current machining section is a straight line section and the next machining section is a circular arc, judging whether the straight line section is fitted:
if so, dividing the original track of the track to be optimized into three sections, wherein the first section is a straight-line section with the starting point as the end point of the last convolution line fitting and the end point as the starting point of the convolution line, the second section is the convolution line, the third section is an arc, the arc track is a fitting small arc, the starting point of the arc is the end point of the convolution line, and the end point is a half position point of the initial arc in the track to be optimized;
if not, dividing the original track of the track to be optimized into three sections: the first section is a straight section with a starting point of the initial straight section and an end point of the convolution line as a starting point of the convolution line, the second section is the convolution line, the third section is an arc, the arc track is a fitting small arc, the starting point of the arc is an end point of the convolution line, and the end point is a half position point of the initial arc;
when the current processing section is a circular arc and the next section is a straight-line section, dividing the original trajectory of the trajectory to be optimized into two sections: the first section is an arc with a starting point of one half of the initial arc and a terminal point of the initial arc as the starting point of the convolution line, and the arc track is a fitting small arc; the second section is a convolution line; and marking that the next straight line segment has been fitted;
and B2, fitting the convolution line based on the relevant parameters of the convolution line.
In step A8 of this embodiment, the tangent position of the straight line and the arc is not fitted with a clothoid, and the system updates the processing track, where the updating method includes:
when the current processing section is a straight section and the next section is an arc section, judging whether the current straight section is fitted, if so, updating the original track to be a straight line with a starting point of the last fitting of the clothoid, and an end point of the original track to be the end point of the processing straight section, and not updating the arc; if not, the original processing track is not updated;
when the current processing section is a circular arc and the next section is a straight line, the original processing track is not updated, and the next section of straight line is marked to be not fitted.
In the embodiment, the tangent position of the straight line and the circular arc is fitted by using the convolution line with gradually changing curvature radius, so that the normal acceleration sudden change of the tangent position of the straight line and the circular arc is eliminated, the stability of laser cutting is kept, and the method is particularly suitable for application in the field of laser cutting.
To further illustrate the present invention, taking two-dimensional planar numerical control laser cutting as an example, the following G code is used:
G00 X100 Y131.607
G01 X95.308 Y131.607
G02 X95.308 Y133.887 I0 J1.14
G01 X100 Y133.887
other part of the parameter settings are as follows:
maximum acceleration: 10000mm/s 2
Maximum speed: 200mm/s.
The results of laser cutting before and after the fitting of the clothoid line are illustrated in the following by comparing with fig. 4.
Fig. 4 is a diagram illustrating a comparison between a clothoid fitting interpolation and a track not subjected to fitting in another embodiment of the present application, and as shown in fig. 4, a track not subjected to fitting by using the present invention and a track subjected to fitting by using a clothoid of the present invention have a certain deviation at a position where a straight line is tangent to an arc, and the track error can be controlled within a set accuracy by setting a fitting error, so that after fitting, a centripetal acceleration generated at a position where the straight line is tangent to the arc changes smoothly, and the centripetal acceleration is prevented from suddenly changing. Fig. 5 is an X-axis acceleration diagram and a Y-axis acceleration diagram in another embodiment of the present application, where (a) in fig. 5 is an X-axis acceleration diagram and (b) is a Y-axis acceleration diagram. Fig. 6 is an X-axis acceleration diagram and a Y-axis acceleration diagram in another embodiment of the present invention, where (a) in fig. 6 is an X-axis acceleration diagram and (b) is a Y-axis acceleration diagram.
As shown in fig. 5 and 6, when the fitting is not performed by the present invention, the acceleration jump exists at the straight tangent arc in the Y-axis direction, which easily causes the shaking of the machine tool, and after the fitting is performed by the convolution line of the present invention, the acceleration at the straight tangent arc in the Y-axis direction becomes gentle and continuous, and the present invention fits the machining trajectory within a certain tolerance by the convolution line, thereby suppressing the shaking of the machine tool, and effectively improving the machining performance of the laser cutting system.
In the embodiment, a convolution line is used as a transition curve to be fitted at the tangent position of a straight line and an arc, speed planning and interpolation are carried out on the convolution line, an interpolation point of the convolution line is mapped into a workpiece coordinate system, and a position point is output. The curvature jump at the straight tangent arc is smoothed through the continuous change of the curvature of the convolution line, so that the normal acceleration is continuous in the machining process, the vibration of the machine tool is restrained during the high-speed laser cutting, and the machining stability and the machining precision of the machine tool are improved.
EXAMPLE III
A third aspect of the present application provides, by way of a third embodiment, an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the method for optimizing a machining trajectory based on a clothoid as described in any one of the above embodiments.
Fig. 7 is a schematic diagram of an architecture of an electronic device according to still another embodiment of the present application.
The electronic device shown in fig. 7 may include: at least one processor 101, at least one memory 102, at least one network interface 104, and other user interfaces 103. The various components in the electronic device are coupled together by a bus system 105. It is understood that the bus system 105 is used to enable communications among the components. The bus system 105 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 105 in FIG. 7.
The user interface 103 may include, among other things, a display, a keyboard, or a pointing device (e.g., a mouse, trackball, or touch pad, among others.
It will be appreciated that the memory 102 in this embodiment may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), enhanced Synchronous SDRAM (ESDRAM), sync Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 102 described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some embodiments, memory 102 stores elements, executable units or data structures, or a subset thereof, or an expanded set thereof as follows: an operating system 1021 and application programs 1022.
The operating system 1021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application 1022 includes various applications for implementing various application services. Programs that implement methods in accordance with embodiments of the present invention can be included in application programs 1022.
In the embodiment of the present invention, the processor 101 is configured to execute the method steps provided in the first aspect by calling a program or an instruction stored in the memory 102, which may be specifically a program or an instruction stored in the application 1022.
The method disclosed by the above embodiment of the present invention can be applied to the processor 101, or implemented by the processor 101. The processor 101 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 101. The processor 101 described above may be a general purpose processor, a digital signal processor, an application specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software elements in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and completes the steps of the method in combination with the hardware thereof.
In addition, in combination with the method for optimizing a machining trajectory based on a clothoid in the above embodiments, an embodiment of the present invention may provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for optimizing a machining trajectory based on a clothoid in the above embodiments is implemented.
It should be noted that 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. The use of the terms first, second, third and the like are for convenience only and do not denote any order. These words are to be understood as part of the name of the component.
Furthermore, it should be noted that in the description of the present specification, the description of the term "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the claims should be construed to include preferred embodiments and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include such modifications and variations.
Claims (9)
1. A processing track optimization method based on a convolution line is characterized by comprising the following steps:
determining information of a track to be optimized based on pre-acquired workpiece graph information, wherein the track to be optimized comprises an initial straight-line segment and a half circular arc connected with the initial straight-line segment in an initial circular arc;
fitting a convolution line serving as a transition curve at the tangent position of the initial straight line segment and the initial circular arc to obtain a convolution line track; fitting a convolution line as a transition curve at the tangent position of the initial straight line segment and the initial circular arc, wherein the fitting comprises the following steps:
calculating relevant parameters of a convolution based on the geometric information of the initial circular arc and a given fitting error, wherein the relevant parameters comprise:
generating a fitting small circular arc based on the geometric information of the initial circular arc, wherein the fitting small circular arc is tangent to the initial circular arc at the middle half of the initial circular arc;
obtaining a convolution line fitting included angle through binary iterative search according to the radius of the fitting small circular arc and the given fitting error, wherein the convolution line fitting included angle is an included angle between the radius direction of the curvature circle of the terminal point of the convolution line and the y axis;
calculating the length of the convolution line based on the fitting small arc radius and the convolution line fitting included angle:
calculating a clothoid parameter based on the clothoid length and the fitted small arc radius;
calculating the coordinates of a convolution line and a fitted small circular arc tangent point under a local coordinate system by a convolution line coordinate formula based on the convolution line parameters and the convolution line length;
calculating the circle center coordinate of the fitting small circular arc in the local coordinate system based on the circular line, the abscissa and the ordinate of the tangent point of the fitting small circular arc;
based on the related parameters of the calculated convolution, fitting the convolution at the tangent position of the initial straight line segment and the initial circular arc;
carrying out speed planning and interpolation on the convolution trajectory to determine an interpolation point;
and mapping the interpolation points to a workpiece coordinate system to obtain position points, and controlling the processing track of the digital control system based on the position points.
2. The method for optimizing a machining trajectory based on a clothoid according to claim 1, wherein the radius of the fitting small arc is:
wherein the content of the first and second substances,rthe radius of the fitted small circular arc is,Ris the radius of the initial circular arc,δfor a given error in the fit, it is,
is one half of the central angle of the initial arc.
3. The method for optimizing the machining track based on the clothoid of claim 2, wherein obtaining the fitting included angle of the clothoid through binary iterative search comprises:
s1, iteratively searching a current convolution fitting included angle through a dichotomy, wherein the dichotomy searching range is not less than
Not greater than one-half of the central angle of the initial arc;
s2, calculating the length of the convolution line of the current iteration through a convolution line length formula based on the radius of the fitted small arc and the angle obtained by the current iteration search:
wherein the content of the first and second substances,rin order to fit the radius of the small arc,βfitting an included angle for a rotation line of the dichotomy current search iteration;
s3, calculating the convolution parameters of the current iteration based on the convolution length of the current iteration and the fitted small circular arc radius;
s4, calculating the coordinates of the cycloidal line and the tangent point of the fitted small circular arc under the local coordinate system of the current iteration through the cycloidal line coordinate formula based on the cycloidal line parameters and the cycloidal line length of the current iteration;
s5, calculating the fitting error of the convolution of the current search iteration through an inward shift value formula of a curvature circle corresponding to the point on the convolution based on the vertical coordinates of the convolution and the tangent point of the circular arc;
and S6, repeatedly executing the steps S1-S5 until the difference value of the fitting error and the given fitting error is smaller than the preset iteration precision, and taking the angle obtained by the dichotomy current iteration search as the final fitting included angle of the clothoid.
4. The method for optimizing a machining trajectory based on a clothoid of claim 1, wherein fitting the clothoid at a tangent of a straight line segment and a circular arc comprises:
b1, dividing the track to be optimized, comprising the following steps:
when the current machining section is a straight line section and the next machining section is a circular arc, judging whether the straight line section is fitted:
if so, dividing the track to be optimized into three sections, wherein the first section is a straight-line section with the starting point as the end point of the last convolution line fitting and the end point as the starting point of the convolution line, the second section is the convolution line, the third section is an arc, the arc track is a fitting small arc, the starting point of the arc is the end point of the convolution line, and the end point is a half position point of the initial arc in the track to be optimized;
if not, dividing the track to be optimized into three sections: the first section is a straight section with a starting point of the initial straight section and an end point of a convolution line, the second section is a convolution line, the third section is an arc, the arc track is a fitting small arc, the starting point of the arc is the end point of the convolution line, and the end point is a half position point of the initial arc;
when the current machining section is an arc and the next section is a straight-line section, dividing the track to be optimized into two sections: the first section is an arc with a starting point of one half of the initial arc and a terminal point of the initial arc as a starting point of a convolution line, and the arc track is a fitting small arc; the second section is a convolution line; and marking that the next straight line segment has been fitted;
and B2, fitting the convolution line based on the relevant parameters of the convolution line.
5. The method of claim 1, wherein the radius of the arc is greater than a fitting limit radius, and the fitting limit radius is 0.5mm.
6. The method according to claim 1, wherein when the speed of the trajectory of the clothoid is planned and interpolated, the maximum planned speed is used as a limit speed at the maximum curvature, and an S-type acceleration/deceleration algorithm is used for planning and interpolation.
7. The method of claim 1, wherein mapping the interpolation points into a workpiece coordinate system to obtain position points comprises:
s41, when the machining track passes through a clothoid and then reaches a circular arc from a straight line segment, calculating the interpolation length of the current interpolation, and calculating the coordinate of the interpolation point mapped to the local coordinate system based on the interpolation length and the clothoid parameter;
when the machining track passes through a convolution line from the circular arc to a straight line segment, calculating the interpolation length of the current interpolation, and calculating the coordinate of an interpolation point mapped to a local coordinate system based on the interpolation length, the convolution line length and the convolution line parameter;
and S42, calculating the corresponding position point coordinates of the interpolation points in the workpiece coordinate system through conversion from the local coordinate system to the workpiece coordinate system.
8. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing a clothoid-based machining trajectory optimization method as claimed in any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, implements the method for optimizing a machining trajectory based on a clothoid according to any one of claims 1 to 7.
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