CN116689983A

CN116689983A - Corner joint speed processing method, device, processing equipment and readable storage medium

Info

Publication number: CN116689983A
Application number: CN202310699981.2A
Authority: CN
Inventors: 钟菲; 余强; 封雨鑫; 陈焱
Original assignee: Shenzhen Han's Smart Control Technology Co ltd; Han s Laser Technology Industry Group Co Ltd
Current assignee: Shenzhen Han's Smart Control Technology Co ltd; Han s Laser Technology Industry Group Co Ltd
Priority date: 2023-06-13
Filing date: 2023-06-13
Publication date: 2023-09-05

Abstract

The application relates to a corner joint speed processing method, a device, processing equipment and a readable storage medium, wherein the method comprises the following steps: acquiring corner constraint speeds of adjacent sub-processing tracks; determining a corner constraint speed local extremum according to the corner constraint speed; determining the planned corner joint speed of the sub-processing track according to the corner constraint speed, the corner constraint speed local extremum and the speed planning model data of the sub-processing track; the corner constraint speed local extremum is the speed of one end point of the sub-processing track, and the corner engagement speed is the speed of the other end point of the sub-processing track. The method can ensure that the speed of the other end point of the sub-processing track is not too high or too low, and ensures that the speeds of the two end points of the sub-processing track meet the requirement of the speed planning model data, thereby preventing processing equipment (such as cutting equipment) from processing or not processing in place (such as over-cutting or not cutting in place) in the actual processing process and improving the processing quality.

Description

Corner joint speed processing method, device, processing equipment and readable storage medium

Technical Field

The present application relates to the field of laser processing, and in particular, to a corner joint speed processing method, a device, a processing apparatus, and a readable storage medium.

Background

Along with the continuous development of laser processing technology and continuous and rich laser demands, the requirements on laser processing precision are higher and higher. In the laser processing process, laser processing motion control is an important technical means for ensuring laser processing precision, and processing track speed planning is used as a core of laser processing motion control, so that the laser processing precision is directly influenced.

The processing track speed planning mainly aims at the problem that continuous multi-section track speed is discontinuous, optimizes the processing speed, and specifically comprises a look-ahead speed planning. The forward-looking speed planning is based on a forward-reverse speed planning strategy, and corner joint speeds corresponding to continuous multi-section tracks are determined so as to improve speed continuity, wherein the corner joint speeds comprise corner starting point speeds and corner end point speeds, the corner starting point speeds are the starting point speeds of the processing tracks at corners, and the corner end point speeds are the end point speeds of the processing tracks at the corners. However, in practical application, the setting of the corner joint speed is unreasonable, so that machining equipment (such as a machine tool) is in machining or in-place machining (such as over-cutting or under-cutting) in the actual machining process, and the machining quality is reduced.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a corner joint speed processing method, apparatus, processing device, and readable storage medium.

A corner engagement speed processing method applied to a processing track including a plurality of sub-processing tracks, comprising:

acquiring corner constraint speeds of adjacent sub-processing tracks;

determining a corner constraint speed local extremum according to the corner constraint speed;

determining a planned corner joint speed of the sub-processing track according to the corner constraint speed, the local extremum of the corner constraint speed and the speed planning model data of the sub-processing track;

the corner constraint speed local extremum is the speed of one end point of the sub-processing track, and the planned corner engagement speed is the speed of the other end point of the sub-processing track.

A corner engagement speed processing apparatus comprising:

the constraint speed acquisition module is used for acquiring corner constraint speeds of adjacent sub-processing tracks;

the local extremum determining module is connected with the constraint speed obtaining module and is used for determining a local extremum of the corner constraint speed according to the corner constraint speed;

the engagement speed determining module is respectively connected with the constraint speed obtaining module and the local extremum determining module and is used for determining the planned corner engagement speed of the sub-processing track according to the corner constraint speed, the corner constraint speed local extremum and the speed planning model data of the sub-processing track; the corner constraint speed local extremum is the speed of one end point of the sub-processing track, and the planned corner engagement speed is the speed of the other end point of the sub-processing track.

A processing apparatus comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform a method as described above.

A computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method as described above.

A computer program product for causing a terminal device to perform the method of any preceding claim when the computer program product is run on the terminal device.

The embodiment of the application has the beneficial effects that: the local extreme value of the corner constraint speed is the speed of one end point of the sub-processing track, the local extreme value of the corner constraint speed is the minimum or maximum, the local extreme value of the corner constraint speed (i.e. the speed of one end point of the sub-processing track) is used as the basis, the speed planning model data of the sub-processing track is combined, the corner constraint speed is used as the constraint, the planned corner connection speed (i.e. the speed of the other end point of the sub-processing track) is determined, the speed of the other end point of the sub-processing track can be ensured not to be too high or too low, the speeds of the two end points of the sub-processing track can meet the requirement of the speed planning model data, the situation that processing equipment (such as cutting equipment) cannot process or process in place (such as overscut or cut in place) can be prevented, and the processing quality can be improved.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a corner joint speed processing method according to one embodiment;

FIG. 2 is a graph of corner constraint speed versus time for each sub-process track in a process track, in one embodiment;

FIG. 3 is a schematic flow chart of step 106 in one embodiment;

FIG. 4 is a schematic flow chart of step 106 in one embodiment;

FIG. 5 is a schematic flow chart of step 104 in one embodiment;

FIG. 6 is a schematic flow chart of step 102 in one embodiment;

FIG. 7 is a flow chart of a corner joint speed processing method according to one embodiment;

FIG. 8 is a block diagram schematically illustrating a corner joint speed processing apparatus in one embodiment;

FIG. 9 is a block diagram illustrating the construction of the engagement speed determination module 60 in one embodiment;

FIG. 10 is a block diagram illustrating the construction of the engagement speed determination module 60 in one embodiment;

FIG. 11 is a block diagram schematically illustrating a specific structure of the local extremum determining module 40 in one embodiment;

FIG. 12 is a block diagram schematically illustrating a specific configuration of the constraint speed acquisition module 20 in one embodiment;

FIG. 13 is a block diagram schematically illustrating a corner joint speed processing apparatus in one embodiment;

fig. 14 is a schematic view of a construction of a processing apparatus in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

FIG. 1 is a flow chart of a corner joint speed processing method according to an embodiment.

In this embodiment, as shown in fig. 1, the corner joint speed processing method is applied to a processing track including a plurality of sub-processing tracks, and the corner joint speed processing method includes steps 102 to 106.

And 102, acquiring corner constraint speeds of adjacent sub-processing tracks.

The processing track can be a laser processing planning track or a machining planning track in a look-ahead window toolPath; the sub-process trajectory may be a straight trajectory and/or an arc trajectory.

Adjacent sub-process tracks may be sub-process tracks sharing at least one endpoint; the corner constraint speed can be the maximum speed permitted by the adjacent sub-processing track joint forming the corner, and can be particularly applied to a scene of limiting the maximum processing speed; the corner constraint speed can also be a corner minimum speed permitted by adjacent sub-processing track engagement forming corners, and can be particularly applied to a scene in which the minimum processing speed is limited.

For example, the look-ahead window toolPath has 4 sections of sub-processing tracks P1, P2, P3 and P4, the sub-processing tracks are joined to form 3 corners, and corner constraint speeds V1 corresponding to corners of the first section of sub-processing track P1 and the second section of sub-processing track P2, corner constraint speeds V2 corresponding to corners of the second section of sub-processing track P2 and the third section of sub-processing track P3, and corner constraint speeds V3 corresponding to corners of the third section of sub-processing track P3 and the fourth section of sub-processing track P4 are sequentially calculated according to a processing buffer sequence.

It should be noted that, in order to ensure that the machining operation can accurately stop at the end point of the machining track in the look-ahead window, the end point speed of the last segment of sub-machining track needs to be set to zero.

And 104, determining a local extreme value of the corner constraint speed according to the corner constraint speed.

The local extreme value of the corner constraint speed can be a local minimum value of the corner constraint speed or a local maximum value of the corner constraint speed; the corner constraint speed local minimum may be a local minimum of a plurality of corner maximum speeds, that is, a corner maximum speed local minimum; the corner constraint speed local maxima may be local maxima among a plurality of corner maximum speeds, i.e. corner maximum speed local maxima.

For example, as shown in fig. 2, when the corner constraint speed local extremum is the corner constraint speed local minimum, then the corner constraint speed local minimum is speeds V2, V4 and V6; when the corner constraint speed local extremum is the corner constraint speed local maximum, then the corner constraint speed local maxima are speeds V1, V3 and V5.

Step 106, determining the planned corner joint speed of the sub-processing track according to the corner constraint speed, the corner constraint speed local extremum and the speed planning model data of the sub-processing track; the corner constraint speed local extremum is the speed of one end point of the sub-processing track, and the corner engagement speed is the speed of the other end point of the sub-processing track.

The speed planning model data of the sub-processing track may include a speed planning model of the sub-processing track and track parameters; the speed planning model can comprise a linear acceleration and deceleration planning model, an S-curve acceleration and deceleration planning model and an exponential acceleration and deceleration planning model; the track parameters may include track length, track acceleration, track jerk, and full track constraint speed, where full track constraint speed may include track maximum processing speed and programmed feed speed.

Alternatively, the trajectory maximum processing speed may be a maximum processing speed permitted by the processing machine; the programmed feed rate may be a maximum processing rate set by a programming software kernel. The planned corner engagement speed can be a target corner engagement speed which takes a local extremum of the corner constraint speed as a reference speed and meets the speed planning model data, or can be other corner constraint speeds which are not local extremum of the corner constraint speed in the sub-processing track.

Specifically, when the corner joint speed of the machining track is planned in a look-ahead mode, a local extremum of the corner constraint speed of the sub-machining track is used as a reference speed, the reference speed and track parameters are input into a speed planning model, the corner joint speed calculated by the model is obtained, and the planned corner joint speed of the sub-machining track is determined according to the magnitude relation between the rest corner constraint speeds in the sub-machining track and the corner joint speed calculated by the model, wherein the local extremum of the corner constraint speed and the planned corner joint speed are the speeds of two endpoints of the sub-machining track respectively.

For example, FIG. 2 is a graph of corner constraint speed versus time for each sub-process track of the process tracks. Wherein the corner constraint speeds of the sub-addition path P0 are V0 and V1, the corner constraint speeds of the sub-processing path P1 are V1 and V2, the corner constraint speeds of the sub-processing path P2 are V2 and V3, the corner constraint speeds of the sub-processing path P3 are V3 and V4, the corner constraint speeds of the sub-processing path P4 are V4 and V5, the corner constraint speeds of the sub-processing path P5 are V5 and V6, the corner constraint speeds of the sub-processing path P6 are V6 and V7, the corner constraint speeds of the sub-processing path P7 are V7 and V8, and the magnitude relationship of the corner constraint speeds is V7> V3> V1> V5> V2> V4> V0> V8 = 0.

For example, when the local extreme value of the corner constraint speed is the local minimum value of the corner constraint speed, that is, the local minimum value of the corner constraint speed is the corner constraint speeds V0, V2, V4 and V6, the corner constraint speeds V0, V2, V4 and V6 are taken as reference speeds, and are input into the speed planning model together with the track parameters to obtain the corner joint speeds V1 ', V3', V5 'and V7' calculated by the model, and then the planned corner joint speeds of the sub-processing track are determined according to the magnitude relation between the corner constraint speeds V1, V3, V5 and V7 and the corner joint speeds V1 ', V3', V5 'and V7' calculated by the model.

When the local extreme value of the corner constraint speed is the local maximum value of the corner constraint speed, namely the local maximum value of the corner constraint speed is the corner constraint speeds V1, V3, V5 and V7, the corner constraint speeds V1, V3, V5 and V7 are taken as reference speeds, and are input into a speed planning model together with track parameters to obtain corner joint speeds V0 ', V2', V4 'and V6' after model calculation, and the planned corner joint speeds of the sub-processing track are determined according to the magnitude relation of the corner constraint speeds V0, V2, V4 and V6 and the corner joint speeds V0 ', V2', V4 'and V6' after model calculation.

According to the above, the local extreme value of the corner constraint speed is the speed of one end point of the sub-processing track, the local extreme value of the corner constraint speed is the local minimum or maximum, the speed planning model data of the sub-processing track is combined with the local extreme value of the corner constraint speed (i.e. the speed of one end point of the sub-processing track) and the corner constraint speed is taken as the constraint, so that the speed of the other end point of the sub-processing track can be ensured not to be too high or too low, the speeds of the two end points of the sub-processing track can meet the requirement of the speed planning model data, the situation that processing equipment (such as cutting equipment) cannot process or process in place (such as over-cutting or under-cutting) in the actual processing process can be prevented, and the processing quality can be improved. In addition, the planning corner connection speed meeting the speed planning model data is determined through the corner constraint speed local extremum, the corner constraint speed local extremum and the planning corner connection speed are respectively used as speeds of two endpoints of the sub-processing track, the speeds of the two endpoints of the sub-processing track meet the speed planning model data requirement, the continuity of the corner connection speed is guaranteed, the problems of excessive processing or insufficient processing are further improved, the laser processing precision is effectively improved, and the processing quality is improved.

FIG. 3 is a schematic flow chart of step 106 in one embodiment.

In this embodiment, as shown in FIG. 3, the step 106 includes sub-steps 302 through 306.

In a substep 302, a speed planning model and trajectory parameters of the sub-processing trajectory are obtained.

The method for obtaining the speed planning model and the track parameters of the sub-processing track can be to read preset parameters such as the speed planning model and the track parameters through a controller.

And a substep 304 of inputting the local extremum of the corner constraint speed and the track parameter into a speed planning model to determine the model corner joint speed of the sub-processing track.

The corner joint speed of the model can be obtained by taking a local extremum of the corner constraint speed as a reference speed, inputting the reference speed and the track parameter into a speed planning model, and outputting the corner joint speed after model calculation.

For example, sub-process trajectory P _f The track parameters of (a) include track length L _f Track acceleration A _cc Maximum track processing speed V _m Programmed feed speed V _F And trace jerk J, and knowing sub-processing trace P _f Is a corner constraint speed local extremum V _s The method comprises the steps of carrying out a first treatment on the surface of the The speed planning model is a linear acceleration and deceleration planning model, and the sub-processing track P is the same _f Model corner engagement speed V _e To be evaluated.

Then, sub-working railTrace P _f Under the action of track jerk J, acceleration A is reached from 0 _cc Time of useCorner constraint speed local extremum V _s Maximum achievable speed V at track jerk J _rm ＝V _s +Acc×Δt, and reaching the maximum achievable speed V _rm Required displacement increment Δl= (V _rm +V _s ) X Deltat/2, maximum speed V set by the system _tm ＝min(V _m ,V _F ). The following are based on ΔL and L _f 、V _rm And V is equal to _tm Classification discussion model corner engagement speed V _e Four cases of (2):

in the first case, ΔL is greater than or equal to L _f And V is _rm ≤V _tm Description of the acceleration A in the trajectory _cc Accelerating, with a sufficient distance to run through L _f The speed can reach V _rm And does not exceed the maximum speed V set by the system _tm . At this time, there is necessarily a model corner engagement speed V _e The solving process is as follows:

first solve for maximum speed V set in the system _tm The displacement increment delta L ₂ ：

If sub-processing path P _f Track length L of (2) _f Increment of specific displacement delta L ₂ Length, description of sub-processing trajectory P _f The end speed of (2) can reach the maximum speed V set by the system _tm So let V _e ＝V _tm . Otherwise, let V in the above _rm ＝V _e ，ΔL ₂ ＝L _f At this time, the model corner engagement speed V _e The solving process of (2) is as follows:

V _e ² +Acc×Δt×V _e -V _s ² +Acc×V _s -2×Acc×L _f ＝0

if the above is solved, the partial constraint speed at the corner is expressedExtremum V _s Can accelerate to the model corner joint speed V under the condition of track jerk J _e And take V _e ＞V _s And (5) forward solution. Otherwise, let V _e ＝V _s Representing the sub-processing path P under the action of the path jerk J _f And (5) uniformly moving.

Second case: ΔL < L _f And V is _rm ≤V _tm Description of the acceleration A in the trajectory _cc Accelerating, not enough distance to run through L _f But at track acceleration A _cc Under the action, the maximum achievable speed V can be reached _rm And does not exceed the maximum speed V set by the system _tm . At this time, it is necessary to re-solve the appropriate track acceleration a by successive approximation _cc Velocity V of engagement with model corner _e . The application adopts a dichotomy method, and the model corner joint speed V _e The specific solving process of (2) is as follows:

first initialize maximum speed to V _bm ＝V _rm Minimum velocity V _hm ＝V _s Average velocity V _mm ＝0.5×(V _bm +V _hm ) Distance tolerance err:

if err > 0, the average velocity V _mm As maximum speed V _bm I.e. V _bm ＝V _mm The method comprises the steps of carrying out a first treatment on the surface of the Otherwise, the average speed V _mm As minimum velocity V _hm I.e. V _hm ＝V _mm The method comprises the steps of carrying out a first treatment on the surface of the If |err| is greater than or equal to 0.2, the average velocity V _mm Take maximum speed V _bm And minimum velocity V _hm Average of (V) _mm ＝0.5×(V _bm +V _hm ). Repeating the above operation until the distance tolerance |err| is not less than 0.2, and adding V _mm As model corner engagement speed V _e At this time, accelerationAlternatively, the iteration is repeated a certain number of times (the iteration number adopted in the application is 50Once) and then no results are calculated, the speed plan is considered to be unable to reach the proper model corner engagement speed V _e And track acceleration A _cc End of cycle, model corner engagement speed V _e And no solution exists.

Third case: ΔL is greater than or equal to L _f And V is _rm ＞V _tm Description of the acceleration A in the trajectory _cc Accelerating, having a sufficient distance to run through the sub-processing path P _f Track length L of (2) _f But at track acceleration A _cc Under the action of the speed V _rm Has exceeded the maximum speed V set by the system _tm Therefore, the track acceleration A cannot be reached _cc . At this time, the model corner joint velocity V is solved _e ＝V _tm The actual acceleration calculation formula is

Fourth case: ΔL < L _f And V is _rm ＞V _tm Description of the acceleration A in the trajectory _cc Accelerating without enough distance to complete the sub-processing path P _f Track length L of (2) _f And at track acceleration A _cc Under the action, the speed V can be reached _rm Also exceeds the maximum speed V set by the system _tm Therefore, the track acceleration A cannot be reached _cc . At this time, the actual acceleration A _cc Velocity V of engagement with model corner _e The solving process is as follows:

the maximum speed V set by the system is calculated first _tm The displacement increment delta L ₃ ：

If L _f ＞ΔL ₃ Description V _e Can reach V _tm I.e. V _e ＝V _tm The method comprises the steps of carrying out a first treatment on the surface of the Otherwise, a dichotomy is adopted to solve the proper A again _cc And V _e The solution process is consistent with the second case solution process and will not be described in detail herein.

Substep 306, determining a planned corner engagement speed of the sub-processing track based on the model corner engagement speed, subject to the corner constraint speed.

Planning corner joint speeds may be corner joint speeds that can satisfy speed planning models and trajectory parameters and permit implementation; alternatively, the planned corner engagement speed may be a smaller value of both the corner constraint speed at one end of the sub-processing track and the model corner engagement speed. Cases where corner constraint speed is a constraint include: the corner constraint speed is taken as the maximum value permitted to be taken by planning the corner engagement speed.

The determining of the planned corner engagement speed of the sub-processing track based on the model corner engagement speed using the corner constraint speed as a constraint condition includes: comparing the magnitude relation between the corner constraint speed at one end of the sub-processing track and the model corner engagement speed, and determining the smaller value of the corner constraint speed and the model corner engagement speed as the planning corner engagement speed.

Specifically, when the corner constraint speed is greater than the model corner engagement speed, determining the model corner engagement speed as a planned corner engagement speed; when the corner constraint speed is less than the model corner engagement speed, then the corner constraint speed is determined as the planned corner engagement speed.

For example, with continued reference to fig. 2, when the local extreme value of the corner constraint speed is the local minimum value of the corner constraint speed, the local minimum values of the corner constraint speeds of the sub-processing track P1 and the sub-processing track P2 are the corner constraint speed V2, the corner constraint speed V2 is taken as a reference speed, and the corner constraint speed V2 and the track parameter are input into a speed planning model, model corner engagement speeds V1 ' and V3 ' are calculated and output through the model, the magnitude relation between the model corner engagement speed V1 ' and the corner constraint speed V1 is compared, and when the corner constraint speed V1 is greater than the model corner engagement speed V1 ', the model corner engagement speed V1 ' is determined as the planned corner engagement speed; when the corner constraint speed V1 is less than the model corner engagement speed V1', then the corner constraint speed V1 is determined as the planned corner engagement speed. Similarly, the magnitude relationship of the model corner engagement speed V3' and the corner constraint speed V3 is compared, and the smaller of the two is determined as the planned corner engagement speed.

According to the corner joint speed processing method provided by the embodiment, the controller reads preset parameters such as a speed planning model and track parameters; inputting the corner constraint speed local extremum and the track parameter into a speed planning model, and outputting the model corner engagement speed after model calculation; comparing the magnitude relation between the corner constraint speed and the model corner engagement speed, and determining the smaller value or the larger value of the corner constraint speed and the model corner engagement speed as the planning corner engagement speed. By the corner joint speed processing method, the operation requirements of a processing machine tool and a programming software kernel are met while the planning corner joint speed meets the speed planning model and track parameter requirements, the continuity and the performability of the corner joint speed are effectively improved, the problem of excessive processing or insufficient processing is further solved, and therefore the laser processing precision is improved.

FIG. 4 is a schematic flow chart of step 106 in one embodiment.

In this embodiment, as shown in FIG. 4, the step 106 includes sub-steps 402 through 408.

In a substep 402, a speed planning model and trajectory parameters of the sub-processing trajectory are obtained.

And a sub-step 404 of sorting the local extremum of the corner constraint speed according to the magnitude of the value to obtain extremum sorting.

And a sub-step 406, according to the extremum sequencing, inputting the local extremum of the corner constraint speed and the track parameter into a speed planning model, and determining the model corner joint speed of the sub-processing track.

Substep 408, using the corner constraint speed as a constraint, determines a planned corner engagement speed for the sub-processing track based on the model corner engagement speed.

Ordering the local extremum of the corner constraint speed according to the magnitude of the value, wherein the case of obtaining the extremum ordering comprises the following steps: and sorting the local minimum values of the corner constraint speed according to the value from small to large to obtain minimum value sorting.

For example, with continued reference to fig. 2, the minimum ranking may be for corner constraint speeds V0, V2, V4, and V6 (corner constraint speed local minima), with a ranking result of V0< V4< V6< V2 from small to large speed values.

According to extremum ordering, inputting a local extremum of the corner constraint speed and the track parameter into a speed planning model, and determining the model corner joint speed of the sub-processing track comprises the following steps: and inputting the track parameters into a speed planning model according to the minimum value sequence, and inputting the local minimum value of the maximum speed of the corners into the speed planning model from small to large, and iteratively determining the model corner joint speed of the sub-processing track.

Specifically, the controller reads preset parameters such as a speed planning model, track parameters and the like; sorting the local extremum of the corner constraint speed according to the value from small to large to obtain minimum value sorting; inputting the track parameters into a speed planning model and inputting the maximum speed local minimum value of the corners into the speed planning model from small to large according to minimum value sequencing, and iteratively determining the model corner joint speed of the sub-processing track; comparing the magnitude relation between the corner constraint speed and the model corner engagement speed, and determining the smaller value of the corner constraint speed and the model corner engagement speed as the planning corner engagement speed.

According to the corner joint speed processing method provided by the embodiment, the local minimum value of the maximum speed of the corner is used as the reference speed to determine the planned corner joint speed meeting the data of the speed planning model, so that the operation requirements of a processing machine tool and a programming software kernel are met while the planned corner joint speed meets the requirements of the speed planning model and the track parameter, the continuity and the performability of the corner joint speed are effectively improved, the problem that excessive processing or insufficient processing occurs is solved, and the laser processing precision is effectively improved.

In one embodiment, the ordering of the local extremum of the corner constraint speed by magnitude of the value, the case of obtaining the extremum ordering further includes: and sequencing the local maximum value of the corner constraint speed according to the value from large to small to obtain maximum value sequencing.

For example, with continued reference to FIG. 2, the maximum ranking may be for corner constraint speeds V1, V3, V5, and V7 (corner constraint speed local maxima), with the result of ranking from a large to a small speed value, i.e., V7 > V3 > V1 > V5.

According to the extremum ordering, inputting the local extremum of the corner constraint speed and the track parameter into the speed planning model, and determining the model corner joint speed of the sub-processing track further comprises: and inputting the track parameters into a speed planning model according to the maximum value sequence, and inputting the local maximum value of the maximum speed of the corner into the speed planning model from large to small, and iteratively determining the model corner joint speed of the sub-processing track.

Specifically, the controller reads preset parameters such as a speed planning model, track parameters and the like; sorting the local extremum of the corner constraint speed according to the value from big to small to obtain maximum sorting; inputting the track parameters into a speed planning model according to the maximum value sequence, and inputting the maximum speed local maximum value of the corners into the speed planning model from large to small, and iteratively determining the model corner joint speed of the sub-processing track; comparing the magnitude relation between the corner constraint speed and the model corner engagement speed, and determining the smaller value of the corner constraint speed and the model corner engagement speed as the planning corner engagement speed.

According to the corner joint speed processing method provided by the embodiment, the local maximum value of the maximum speed of the corner is used as the reference speed to determine the planned corner joint speed meeting the data of the speed planning model, and under the condition that the planned corner joint speed meets the requirements of the speed planning model and track parameters and meets the running requirements of a processing machine tool and a programming software kernel, the speed planning requirements of different processing scenes are met, and the application range of the corner joint speed processing method is effectively expanded.

According to the above, according to the extremum sorting, starting from the minimum or maximum corner constraint speed local extremum, inputting the extremum and the track parameter into a speed planning model, and determining the planned corner joint speed of the sub-processing track by taking the corner constraint speed as a constraint condition, so that the whole processing track can meet the basic speed planning requirement (the speed planning result of the minimum or maximum corner constraint speed local extremum), and the processing quality can be ensured.

In one embodiment, determining the planned corner engagement speed of the sub-process track based on the corner constraint speed, the corner constraint speed local extremum, and the speed planning model data of the sub-process track further comprises: after determining a planned corner engagement speed, updating the corresponding corner constraint speed according to the determined planned corner engagement speed, and subsequently determining the planned corner engagement speed of the corresponding sub-processing track by taking the updated corner constraint speed as a constraint condition.

After determining a planned corner engagement speed, updating the corresponding corner constraint speed according to the determined planned corner engagement speed includes: after the sub-processing track determines a planned corner engagement speed, if the corner constraint speed is greater than the model corner engagement speed, i.e., the planned corner engagement speed is the model corner engagement speed, the corner constraint speed of the endpoint of the sub-processing track is updated to the model corner engagement speed.

For example, with continued reference to fig. 2, when the local extreme value of the corner constraint speed is the local minimum value of the corner constraint speed, the local minimum values of the corner constraint speeds of the sub-processing track P1 and the sub-processing track P2 are the corner constraint speed V2, the corner constraint speed V2 is taken as a reference speed, and the corner constraint speed V2 and the track parameter are input into a speed planning model, model corner engagement speeds V1 ' and V3 ' are calculated and output through the model, the magnitude relation between the model corner engagement speed V1 ' and the corner constraint speed V1 is compared, and when the corner constraint speed V1 is greater than the model corner engagement speed V1 ', the model corner engagement speed V1 ' is determined as the planned corner engagement speed; and updating the corner constraint speed V1 of the sub-processing track to be a model corner engagement speed V1 ', and subsequently determining the planning corner engagement speed of the corresponding sub-processing track by taking the updated corner constraint speed (namely the model corner engagement speed V1') as a constraint condition.

In one embodiment, inputting the track parameters into the speed planning model and inputting the corner maximum speed local minima into the speed planning model from small to large according to the minimum ranking, and iteratively determining the model corner engagement speed of the sub-processing track comprises: and (3) for the sub-processing tracks which are sequenced from small to large and are between two adjacent corner maximum speed local minima, starting from the sub-processing track where the first corner maximum speed local minima is located, inputting the corner maximum speed local minima corresponding to each sub-processing track into a speed planning model, inputting corresponding track parameters into the speed planning model, and iteratively determining the model corner connection speed of each sub-processing track.

For sub-process trajectories between two adjacent corner maximum speed local minima, ordered from small to large, the case of starting with the sub-process trajectory where the first corner maximum speed local minima is located includes: taking a sub-processing track which is sequenced from small to large and is between two adjacent corner maximum speed local minima as a sub-processing track needing to be subjected to speed planning, and determining index vIdx of subscript corresponding to each of a smaller value and a larger value in the two corner maximum speed local minima _j And vIdx _j+1 And determining the sub-processing track where the maximum speed local minimum value of the first corner is located according to the self-size relation of the index sum of the two subscripts, and sequentially traversing the sub-processing track needing speed planning from the sub-processing track where the maximum speed local minimum value of the first corner is located.

Optionally, determining the sub-processing track where the maximum speed local minimum value of the first corner is located according to the self-size relation of the two index sums, and sequentially traversing the sub-processing track where the speed planning is required from the sub-processing track where the maximum speed local minimum value of the first corner is located, where the steps include: when the index of the index corresponding to the smaller of the two corner maximum speed local minima is smaller than the index of the following table corresponding to the smaller of the two corner maximum speed local minima, i.e. vIdx _j Less than vIdx _j+1 And determining the sub-processing track where the smaller value of the maximum speed local minimum values of the two corners is the sub-processing track of the first section which needs to be subjected to speed planning, and traversing the sub-processing track which needs to be subjected to forward speed planning according to the sequence of the processing track planning.

The method comprises the following specific steps: step (1), indexing the subscript vIdx corresponding to each of the smaller value and the larger value in the maximum speed local minimum of the two corners _j And vIdx _j+1 Assigned to sIdx and eIDx, respectively. And (2) if sIdx is less than eIDx, forward speed planning is carried out on the sIdx-th segment sub-processing track to the eIDx-1-th segment sub-processing track in the look-ahead read window toolPath. Wherein the steps are2) Comprising substeps (2.1) to (2.4).

And (2.1) traversing the sub-processing tracks needing speed planning in the look-ahead window toolPath according to the sequence from sIdx to eIDx-1, and selecting the kth sub-processing track, wherein the sIdx is less than or equal to k < eIDx.

A substep (2.2) of comparing corner constraint speeds turn vel at both ends of the kth segment of sub-processing track _k And turn vel _k+1 Is a size relationship of (a). If turn vel _k ＜turnVel _k+1 Indicating that the kth segment is an acceleration track segment; at this time, the corner constraint speed turn vel is first applied _k Track length L _k Track acceleration A _cck Maximum track processing speed V _m,k Programmed feed speed V _F,k Trajectory jerk J _k Inputting the model into a linear acceleration and deceleration planning model, and calculating the model corner connection speed V which can be achieved by the kth segment of sub-processing track _e,k 。

If V _e,k ＜turnVel _k+1 Representing the speed of the kth segment sub-processing track constrained by the corner turn vector _k Acceleration can only reach the model corner engagement speed V _e,k Corner constraint speed turn vel cannot be reached _k+1 Therefore, the corner constraint speed turnVel of the kth segment sub-processing track needs to be adjusted _k+1 Joining the model corner to speed V _e,k Assignment to turn vel _k+1 I.e. turn vel _k+1 ＝V _e,k At this time, the planned corner engagement speed is the model corner engagement speed V _e,k The method comprises the steps of carrying out a first treatment on the surface of the And letting k=k+1, jump to substep (2.1); otherwise, the k-th segment sub-processing track is limited by the corner constraint speed turnVel _k Acceleration can reach corner constraint speed turn vel _k+1 Without modifying corner constraint speed turn vel _k+1 At this time, the planned corner engagement speed is the corner constraint speed turn vel _k+1 The method comprises the steps of carrying out a first treatment on the surface of the And let k=k+1, jump to substep (2.1).

Substep (2.3), if TurnVel _k ≥turnVel _k+1 Indicating that the kth segment is a deceleration track segment; at this time, the corner constraint speed turn vel is first applied _k+1 Track length L _k Track acceleration A _cck Maximum track processing speed V _m,k Programmed feed speed V _F,k Trajectory jerk J _k Inputting the model into a linear acceleration and deceleration planning model, and calculating the model corner connection speed V required by the reverse acceleration of the kth segment of sub-processing track _s,k The method comprises the steps of carrying out a first treatment on the surface of the If V _s,k ≥turnVel _k Representing the speed of the kth segment sub-processing track constrained by the corner turn vector _k+1 Reverse acceleration can reach corner constraint speed turn vel _k At this time, the planned corner engagement speed is the corner constraint speed turn vel _k+1 The method comprises the steps of carrying out a first treatment on the surface of the And let k=k+1, jump to substep (2.1).

Substep (2.4), if V _s,k ＜turnVel _k Representing the speed of the kth segment sub-processing track constrained by the corner turn vector _k+1 Reverse acceleration cannot reach a preset corner constraint speed turn vel _k At this time, the corner constraint speed turnVel of the kth segment sub-processing track is required _k Modified to model corner engagement speed V _s,k I.e. turn vel _k ＝V _s,k At this time, the planned corner engagement speed is the model corner engagement speed V _s,k 。

According to the above, for the sub-processing tracks which are ordered from small to large and between two adjacent corner maximum speed local minima, after determining a planned corner engagement speed, updating the corresponding corner constraint speed according to the determined planned corner engagement speed, and then determining the planned corner engagement speed of the corresponding sub-processing track by taking the updated corner constraint speed as a constraint condition, so that the speed planning result of the front sub-processing track can be used for the speed planning of the rear sub-processing track (namely determining the rest of planned corner engagement speeds), and the speed planning of the whole processing track can reach a more reasonable (such as larger) value under the condition of meeting the speed planning of the minimum corner maximum speed local minima, and the processing quality and processing efficiency of the whole processing track can be improved.

In one embodiment, inputting the local minimum value of the maximum speed of the corner corresponding to each sub-processing track into the speed planning model and inputting the corresponding track parameter into the speed planning model, and iteratively determining the model corner joint speed of each sub-processing track comprises: and inputting the local minimum value of the maximum speed of the corner corresponding to each sub-processing track into a speed planning model, inputting the corresponding track parameter into the speed planning model, and iteratively determining the model corner joint speed of each sub-processing track through forward speed planning and reverse speed planning.

In particular, to ensure that the kth segment sub-processing track engages velocity V at the corner of the model _s,k And the speed planning condition of all sub-processing tracks before the k-1 sub-processing track can be met. Therefore, on the basis of forward speed planning from the sub-step (2.1) to the sub-step (2.4), corner constraint speeds from the k-1 segment sub-processing track to the two ends of the first segment sub-processing track are planned in a reverse speed mode; define z=k-1.

Substep (2.5), first determine if z is greater than 0. If z is more than 0, indicating that the prospective pre-reading window tool path also has a sub-processing track which can be planned; then, the corner constraint speed turnVel at the two ends of the z-th segment sub-processing track is taken _z And turn vel _z+1 The method comprises the steps of carrying out a first treatment on the surface of the If turn vel _z ＜turnVel _z+1 Then at the corner constraint speed turn vel _z The model corner connection speed V which can be achieved by the z-th segment sub-processing track is calculated by adopting a linear acceleration and deceleration planning model as a reference speed _e,z 。

If V _e,z ＜turnVel _z+1 The corner constraint speed turn vel of the z-th segment sub-processing track is determined _z+1 Modified to model corner engagement speed V _e,z I.e. turn vel _z+1 ＝V _e,z At this time, the planned corner engagement speed is the model corner engagement speed V _e,z The method comprises the steps of carrying out a first treatment on the surface of the And let z=z-1, repeat substep (2.5). Otherwise, the corner constraint speed turnVel of the z-th segment sub-processing track is not required to be modified _z+1 At this time, the planned corner engagement speed is the corner constraint speed turn vel _z+1 The method comprises the steps of carrying out a first treatment on the surface of the And let k=k+1, jump to substep (2.1).

If turn vel _z ≥turnVel _z+1 At corner constraint speed turn vel _z+1 Calculating the z-th segment sub-addition for the reference speedModel corner engagement speed V capable of being achieved by reverse acceleration of engineering track _s,z . If V _s,z ＜turnVel _z The corner constraint speed turn vel of the z-th segment sub-processing track is determined _z Modified to model corner engagement speed V _s,z I.e. turn vel _z ＝V _s,z At this time, the planned corner engagement speed is the model corner engagement speed V _s,z The method comprises the steps of carrying out a first treatment on the surface of the And let z=z-1, repeat substep (2.5). Otherwise, the corner constraint speed turnVel of the z-th segment sub-processing track is not required to be modified _z At this time, the planned corner engagement speed is the corner constraint speed turn vel _z The method comprises the steps of carrying out a first treatment on the surface of the And let k=k+1, jump to substep (2.1).

Optionally, determining the sub-processing track where the maximum speed local minimum value of the first corner is located according to the self-size relation of the two index sums, and sequentially traversing the sub-processing track where the speed planning is required from the sub-processing track where the maximum speed local minimum value of the first corner is located further includes: when the index of the index corresponding to the smaller of the two corner maximum speed local minima is smaller than the index of the following table corresponding to the smaller of the two corner maximum speed local minima, i.e. vIdx _j Greater than or equal to vIdx _j+1 And determining the sub-processing track where the larger value of the maximum speed local minimum values of the two corners is located as the sub-processing track of the first section needing speed planning, and traversing the sub-processing track needing reverse speed planning according to the reverse sequence of the processing track planning.

And (3) if sIdx is more than or equal to eIDx, performing reverse speed planning on the sIdx-1 segment sub-processing track to the eIDx segment sub-processing track in the look-ahead read window toolPath. Step (3) comprises sub-steps (3.1) to (3.4).

And (3.1) traversing the sub-processing track which needs to be subjected to speed planning in the look-ahead window toolPath according to the reverse sequence from sIdx-1 to eIDx, and selecting the kth sub-processing track, wherein the eIDx is less than or equal to k and less than sIdx.

A substep (3.2) of comparing corner constraint speeds turn vel at both ends of the kth segment of sub-processing track _k And turn vel _k+1 Is a size relationship of (a). If turn vel _k ＞turnVel _k+1 Indicating that the kth segment is deceleratingA track section; at this time, the corner constraint speed turn vel is first applied _k+1 Track length L _k Track acceleration A _cck Maximum track processing speed V _m,k Programmed feed speed V _F,k Trajectory jerk J _k Inputting the model into a linear acceleration and deceleration planning model, and calculating the model corner connection speed V which can be achieved by the reverse acceleration of the kth segment of sub-processing track _s,k 。

If V _s,k ＜turnVel _k Representing the speed of the kth segment sub-processing track constrained by the corner turn vector _k+1 Reverse acceleration can only reach model corner engagement speed V _s,k Corner constraint speed turn vel cannot be reached _k Therefore, the corner constraint speed turnVel of the kth segment sub-processing track needs to be adjusted _k Joining the model corner to speed V _s,k Assigning a value to corner constraint speed turn vel _k I.e. turn vel _k ＝V _s,k At this time, the planned corner engagement speed is the model corner engagement speed V _s,k The method comprises the steps of carrying out a first treatment on the surface of the And letting k=k-1, jump to substep (3.1); otherwise, the k-th segment sub-processing track is limited by the corner constraint speed turnVel _k+1 Reverse acceleration can reach corner constraint speed turn vel _k Without modifying corner constraint speed turn vel _k At this time, the planned corner engagement speed is the corner constraint speed turn vel _k The method comprises the steps of carrying out a first treatment on the surface of the And let k=k-1 jump to substep (3.1).

Substep (3.3), if TurnVel _k ≤turnVel _k+1 Indicating that the kth segment is an acceleration track segment; at this time, the corner constraint speed turn vel is first applied _k Track length L _k Track acceleration A _cck Maximum track processing speed V _m,k Programmed feed speed V _F,k Trajectory jerk J _k Inputting the model into a linear acceleration and deceleration planning model, and calculating the model corner connection speed V which can be achieved by the reverse acceleration of the kth segment of sub-processing track _e,k 。

If V _e,k ≥turnVel _k+1 Representing the speed of the kth segment sub-processing track constrained by the corner turn vector _k+1 Reverse acceleration can reach corner constraint speed turn vel _k At this time, the planned corner engagement speed is the corner constraint speedDegree turn vel _k The method comprises the steps of carrying out a first treatment on the surface of the And let k=k-1, jump to substep (3.1).

Substep (3.4), if V _e,k ＜turnVel _k+1 Representing the speed of the kth segment sub-processing track constrained by the corner turn vector _k+1 Reverse acceleration cannot reach a preset corner constraint speed turn vel _k At this time, the corner constraint speed turnVel of the kth segment sub-processing track is required _k Modified to model corner engagement speed V _e,k . I.e. turn vel _k ＝V _e,k At this time, the planned corner engagement speed is the model corner engagement speed V _e,k 。

In particular, to ensure that the kth segment sub-processing track engages velocity V at the corner of the model _e,k And the speed planning condition of all sub-processing tracks after the k+1th sub-processing track can be met. Therefore, it is necessary to plan the corner constraint speed turn vel from the (k+1) th sub-processing track to both ends of the last sub-processing track on the basis of the reverse speed planning from the sub-step (3.1) to the sub-step (3.4) _k And turn vel _k+1 The method comprises the steps of carrying out a first treatment on the surface of the Define z=k+1.

A substep (3.5) of first determining if z is less than n; if z is less than n, indicating that the prospective pre-reading window tool path also has a sub-processing track which can be planned; then, the corner constraint speed turnVel at the two ends of the z-th segment sub-processing track is taken _z And turn vel _z+1 . If turn vel _z ＜turnVel _z+1 Then at the corner constraint speed turn vel _z The model corner connection speed V which can be achieved by the z-th segment sub-processing track is calculated by adopting a linear acceleration and deceleration planning model as a reference speed _e,z . If V _e,z ＜turnVel _z+1 The corner constraint speed turn vel of the z-th segment sub-processing track is determined _z+1 Modified to model corner engagement speed V _e,z I.e. turn vel _z+1 ＝V _e,z At this time, the planned corner engagement speed is the model corner engagement speed V _e,z The method comprises the steps of carrying out a first treatment on the surface of the And let z=z+1, repeat substep (3.5). Otherwise, the corner constraint speed turnVel of the z-th segment sub-processing track is not required to be modified _z+1 At this time, the planned corner engagement speed is the corner constraint speed turn vel _z+1 The method comprises the steps of carrying out a first treatment on the surface of the And let k=k-1, jump to substep (3.1).

If turn vel _z ≥turnVel _z+1 At corner constraint speed turn vel _z+1 Calculating the model corner joint speed V which can be achieved by reverse acceleration of the Z-stage sub-processing track as a reference speed _s,z . If V _s,z ＜turnVel _z Indicating that the reverse acceleration of the z-stage sub-processing track can not reach the corner constraint speed turnVel _z The corner constraint speed turn vel of the z-th segment sub-processing track is determined _z Modified to model corner engagement speed V _s,z I.e. turn vel _z ＝V _s,z At this time, the planned corner engagement speed is the model corner engagement speed V _s,z Let z=z+1 and repeat substep (3.5). Otherwise, the corner constraint speed turnVel of the z-th segment sub-processing track is not required to be modified _z At this time, the planned corner engagement speed is the corner constraint speed turn vel _z And let k=k-1, jump to substep (3.1).

And (4) repeating the steps (1) - (3) until all sub-processing tracks in the look-ahead window toolPath complete speed planning.

And (5) after planning the corner constraint speed of each sub-processing track, assigning a local extremum of the corner constraint speed and the planned corner connection speed turn vel' determined by iteration to a look-ahead read window toolPath, and inputting the path into a programming software kernel for controlling the machine tool processing.

For example, with continued reference to FIG. 2, corner constraint speed local minima (i.e., corner maximum speed local minima) V0, V2, V4, and V6, are ordered in descending order of speed valuesV0<V4<V6<V2. Taking two adjacent corner maximum speed local minima V0 and V4 as examples, which are arranged from small to large, the sub-processing tracks P0, P1, P2 and P3 between the corner maximum speed local minima V0 and V4 are the sub-processing tracks needing speed planning, and the corner maximum speed local minima respectively correspond to the index vIdx _j And vIdx _j+1 If the index 0 is smaller than index 4, the sub-processing track P0 where the local minimum V0 of maximum corner speed is located is determined as the sub-processing track where the first segment needs to be speed planned, i.e. k=0.

Firstly, comparing the magnitude relation of corner constraint speeds V0 and V1 at two ends of a sub-processing track P0, wherein V0 is smaller than V1, and the sub-processing track P0 is an acceleration track section; taking the corner constraint speed V0 (namely the local minimum value of the maximum speed of the corner) as a reference speed, and taking the corner constraint speed V0 and the track length as L _k Track acceleration A _cck Maximum track processing speed V _m,k Programmed feed speed V _F,k Trajectory jerk J _k In the linear acceleration and deceleration planning model, the model corner connection speed V which can be achieved by the sub-processing track P0 is calculated _e,k The method comprises the steps of carrying out a first treatment on the surface of the If V _e,k < V1, indicating that the sub-processing path P0 is accelerated by the corner constraint speed V0 to reach the model corner engagement speed V only _e,k Since the corner constraint speed V1 cannot be reached, it is necessary to adjust the corner constraint speed V1 of the sub-processing path P0 to join the model corner to the speed V _e,k Assigned to V1, i.e. v1=v _e,k Let k=k+1 to continue to perform speed planning on the sub-processing trajectories P1, P2, and P3 in the processing trajectory planning order; otherwise, it means that the sub-processing track P0 is accelerated by the corner constraint speed V0 to reach the corner constraint speed V1, without modifying the corner constraint speed V1, and k=k+1 is set to continue to perform speed planning on the sub-processing tracks P1, P2, and P3 according to the processing track planning order.

Continuously, taking two corner maximum speed local minima V6 and V2 which are arranged from small to large and are adjacent as examples, sub-processing tracks P2, P3, P4 and P5 between the corner maximum speed local minima V6 and V2 are sub-processing tracks which need to be subjected to speed planning, and the corner maximum speed local minimaIndex vIdx corresponding to each value _j And vIdx _j+1 For 6 and 2, if the index 6 of the index is greater than the index 2 of the index, the sub-processing track P5 where the local minimum V6 of the maximum speed of the corner is located is determined as the sub-processing track of the first segment, i.e. k=5, where the speed planning is required.

Firstly, comparing the magnitude relation of corner constraint speeds V5 and V6 at two ends of a sub-processing track P5, wherein V5 is larger than V6, and the sub-processing track P5 is a deceleration track section; taking the corner constraint speed V6 (namely the local minimum value of the maximum speed of the corner) as a reference speed, and taking the corner constraint speed V6 and the track length as L _k Track acceleration A _cck Maximum track processing speed V _m,k Programmed feed speed V _F,k Trajectory jerk J _k Inputting the model into a linear acceleration and deceleration planning model, and calculating the model corner connection speed V which can be achieved by the reverse acceleration of the sub-processing track P5 _s,k . If V _s,k < V5, indicating that the reverse acceleration of the sub-processing path P5 from the corner constraint speed V6 can only reach the model corner engagement speed V _s,k Since the corner constraint speed V5 cannot be reached, it is necessary to adjust the corner constraint speed V5 of the sub-processing path P5 to join the model corner to the speed V _s,k Assigning to corner constraint speed V5, i.e. V _s,k Let k=k-1 to continue the speed planning of sub-process trajectories P4, P3, and P2 in reverse order of process trajectory planning, =v5; otherwise, it means that the sub-processing track P5 is reversely accelerated by the corner constraint speed V6 to reach the corner constraint speed V5, without modifying the corner constraint speed V5, and k=k-1, so as to continue to perform speed planning on the sub-processing tracks P4, P3 and P2 according to the reverse order of the processing track planning.

According to the above, the forward speed planning and the reverse speed planning are combined, and the corresponding corner constraint speed is updated according to the determined planned corner engagement speed after determining the planned corner engagement speed, and then the planned corner engagement speed of the corresponding sub-processing track is determined by taking the updated corner constraint speed as a constraint condition, so that the speed planning result of the front sub-processing track can be used for the speed planning of the rear sub-processing track, and the speed planning result of the rear sub-processing track is also applicable to the speed planning of the front sub-processing track, namely the speed planning result of the front sub-processing track and the rear sub-processing track can be mutually applicable, and the processing quality and the processing efficiency of the whole processing track can be improved.

To ensure the connection speed V of the kth segment sub-processing track at the corner of the model _e,k And the speed planning condition of all sub-processing tracks after the k+1th sub-processing track can be met.

According to the corner joint speed processing method provided by the embodiment, the corner joint speed of the model is calculated by taking the local extremum of the corner constraint speed as a reference speed, the magnitude relation between the local extremum of the corner constraint speed and the corner joint speed of the model is compared, and the smaller value in the corner constraint speed and the corner joint speed of the model is determined as the planned corner joint speed; and the local extreme value of the corner constraint speed and the planned corner connection speed are respectively used as the speeds of the two endpoints of the sub-processing track, so that the speeds of the two endpoints of the sub-processing track meet the data requirement of the speed planning model, the continuity of the corner connection speed is ensured, the problems of excessive processing or insufficient processing are further improved, and the laser processing precision is effectively improved.

FIG. 5 is a schematic flow chart of step 104 in one embodiment.

In this embodiment, as shown in FIG. 5, the step 104 includes sub-steps 502 through 504.

In a substep 502, the start speed and the end speed of each sub-processing track are used as corner constraint speeds.

In a substep 504, a local extremum of the corner constraint speed is obtained according to the magnitude relation of the adjacent corner constraint speeds.

According to the magnitude relation of adjacent corner constraint speeds, the obtaining of the local extreme value of the corner constraint speed comprises the following steps: and from the first corner constraint speed to the last corner constraint speed, P adjacent corner constraint speeds are taken as a group, an extreme value is determined from each group as a local extreme value of the corner constraint speeds, and P is an integer greater than or equal to 3.

Specifically, when P is equal to 3, from the first corner constraint speed to the last corner constraint speed, taking every 3 or more adjacent corner constraint speeds as a group, determining an extremum from each group as a local extremum of the corner constraint speeds, and effectively improving the accuracy of planning the corner joint speed by acquiring the corner constraint speeds of as many sub-processing tracks as possible.

When P is an integer greater than 3, for example, when 4 is taken, from the first corner constraint speed to the last corner constraint speed, taking every 4 adjacent corner constraint speeds as a group, determining an extremum from each group as a local extremum of the corner constraint speeds, and effectively improving the efficiency of obtaining the planned corner joint speed by increasing the number of adjacent corner constraint speeds in each group.

According to the corner joint speed processing method provided by the embodiment, the value of P can be changed according to different use fields Jing Xuqiu, and the accuracy and the acquisition efficiency of planning the corner joint speed are considered.

FIG. 6 is a schematic flow chart of step 102 in one embodiment.

In this embodiment, as shown in FIG. 6, the step 102 includes sub-steps 602-606.

In a substep 602, geometric information of the sub-processing track is obtained.

In a sub-step 604, the geometric corner types of adjacent sub-process tracks are determined.

The geometric information can be the included angle of adjacent sub-processing tracks; optionally, the geometric information has a value ranging from 0 ° to 180 °.

The geometric corner types comprise a LL-shaped corner formed by connecting straight lines, an LC-shaped corner formed by connecting straight lines and arcs, a CL-shaped corner formed by connecting arcs and straight lines and a CC-shaped corner formed by connecting arcs and arcs.

Wherein, the LL-shaped corner formed by connecting straight lines can be the processing track P of two adjacent straight lines _i 、P _i+1 The corners formed by connection; straight line and arc line connecting structureThe LC-shaped corner can be the straight line processing track P _i And the subsequent arc line processing track P _i+1 The corners formed by connection; similarly, the CL-shaped corner formed by connecting the arc line and the straight line can be the processing track P of the previous arc line _i And the next section of straight line processing track P _i+1 The corners formed by connection; the CC-shaped corner formed by connecting the arc line and the arc line can be a processing track P of two adjacent arc lines _i 、P _i+1 And connecting the corners formed by the connection.

In a sub-step 606, corner constraint speeds of adjacent sub-processing tracks are determined based on the geometric corner types and the geometric information.

According to the geometric corner type and the geometric information, determining the corner constraint speed of the adjacent sub-processing tracks comprises the following steps: when the geometric corner type is a corner formed by connecting straight lines and the included angle of the adjacent sub-processing tracks is zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed of the processing tracks; when the geometric corner type is a corner formed by connecting straight lines and the included angle of the adjacent sub-processing tracks is not zero, the corner constraint speed of the adjacent sub-processing tracks is zero.

Specifically, when the sub-processing trajectory P _i 、P _i+1 When the geometric corner type of the adjacent sub-processing track is a LL-shaped corner formed by connecting straight lines, the corner constraint speed V of the adjacent sub-processing track _turn,i The calculation formula of (2) is as follows:

wherein, if the included angle beta=0 of the adjacent sub-processing tracks, the sub-processing track P is indicated at the corner joint _i 、P _i+1 Is a straight line which is in the same direction and is collinear, so the maximum speed V of the corner joint is increased in order to improve the processing efficiency of the same-direction straight line _turn,i Defined as adjacent sub-processing path P _i And P _i+1 Maximum processing speed V _m,i 、V _m,i+1 Programming feed speed V _F,i 、V _F,i+1 Minimum value V of the four _t . If adjacent toIncluded angle beta epsilon (0, pi) of sub-processing track]Maximum speed V at corner joint _turn,i =0, avoiding corner over-cutting, improving corner processing quality.

The determining corner constraint speed of adjacent sub-processing tracks according to the geometric corner type and the geometric information further comprises: when the geometric corner type is a corner formed by connecting a straight line and an arc line or a corner formed by connecting an arc line and a straight line, and the included angle of the adjacent sub-processing tracks is zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed and the centripetal speed of the processing tracks; when the geometric corner type is a corner formed by connecting a straight line and an arc line or a corner formed by connecting an arc line and a straight line, and the included angle of the adjacent sub-processing tracks is not zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed, the centripetal speed and the included angle of the adjacent sub-processing tracks of the processing tracks.

The centripetal speed can be the square root of the corresponding curvature radius and jerk of the arc sub-processing track in any adjacent sub-processing track, namelyOr->Specifically, when the sub-processing trajectory P _i 、P _i+1 When the geometric corner type of the adjacent sub-processing track is an LC type corner formed by connecting straight lines with arc lines, the corner constraint speed V of the adjacent sub-processing track _turn,i The calculation formula of (2) is as follows:

in the formula, if the included angle beta=0 of the adjacent sub-processing tracks, the straight sub-processing track P is represented _i Direction vector and arc line processing track P _i+1 Tangential vector is in the same direction and is different from LL-type corner in that an arc machining track P is added _i+1 Centripetal speedIs a constraint of (a). If the included angle beta epsilon (0, pi) of the adjacent sub-processing tracks]At the moment, the corner constraint speed is constrained by an included angle beta, and the larger the included angle beta is, the linear sub-processing track P is illustrated _i And arc line machining track P _i+1 The sharper the engaging corner, the less the corner constraint speed.

Optionally, when the sub-processing path P _i 、P _i+1 When the geometric corner type of the adjacent sub-processing track is a CL-shaped corner formed by connecting an arc line and a straight line, the corner constraint speed V of the adjacent sub-processing track _turn,i The calculation formula of (2) is as follows:

wherein, if the included angle beta=0 of the adjacent sub-processing tracks, the arc sub-processing track P is shown at the corner joint _i Tangential vector and linear sub-processing path P _i+1 The direction vector is in the same direction and is different from the LL-shaped corner in that an arc line sub-processing track P is added _i Is of the centripetal speed of (2)Is a constraint of (a). If the included angle beta epsilon (0, pi) of the adjacent sub-processing tracks]At the moment, the corner constraint speed is constrained by an included angle beta, and the larger the included angle beta is, the arc line sub-processing track P is illustrated _i And a straight line sub-processing path P _i+1 The sharper the engaging corner, the less the corner constraint speed.

According to the geometric corner type and the geometric corner information, the obtaining the corner constraint speed of the adjacent sub-processing track further comprises: when the geometric corner type is a corner formed by connecting an arc line and the included angle of the adjacent sub-processing track is zero, determining the corner constraint speed of the adjacent sub-processing track according to the full track constraint speed and the centripetal speed minimum value of the processing track; and when the geometric corner type is a corner formed by connecting an arc line and an arc line, and the included angle of the adjacent sub-processing tracks is not zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed of the processing tracks, the centripetal speed minimum value and the included angle of the adjacent sub-processing tracks.

Alternatively, the minimum value of the centripetal speed can be the minimum value of the corresponding curvature radius of any two adjacent arc sub-processing tracks and the square root of jerk, namely Specifically, when the sub-processing trajectory P _i 、P _i+1 When the geometric corner type of the adjacent sub-processing track is a CC type corner formed by connecting arcs _turn,i The calculation formula of (2) is as follows:

in the above formula, if the included angle β=0 between adjacent sub-processing tracks, the arc sub-processing track P is shown at the corner _i And P _i+1 The tangential vectors are co-directional. At this time, if the arc line is processed by the track P _i And P _i+1 The arc directions are consistent, as for a clockwise arc G02 or a counterclockwise arc G03, the arc sub-processing track P is described _i And P _i+1 Tangential at the joint, at this time, arc line machining path P _i And P _i+1 The maximum speed of the corner joint is only limited by the centripetal speed of the circle center of the machining track of the arc line with smaller radiusIs a constraint of (a). If the included angle beta epsilon (0, pi) of the adjacent sub-processing tracks]Arc line machining track P _i And P _i+1 The maximum speed of the corner joint is also limited by an included angle beta, and the bigger the included angle beta is, the more the arc line machining track P is described _i And P _i+1 The sharper the engaging corner, the less the corner constraint speed.

According to the corner joint speed processing method provided by the embodiment, under the condition that laser processing is normally performed, the corner constraint speeds corresponding to different geometric corner information under different geometric corner types of adjacent sub-processing tracks are obtained in a diversified mode, and the application range of the corner joint speed processing method is effectively widened.

FIG. 7 is a flow chart of a corner joint speed processing method according to an embodiment.

In this embodiment, as shown in fig. 7, the corner joint speed processing method includes steps 702 to 704.

Step 702, track length information of a processing track is obtained.

Step 704, adjusting the planned corner joint speed of the sub-processing track according to the track length information and the interpolation period.

Track length information, which may be a remaining allowable processing length in the processing track; the interpolation period may be the time taken to complete a single interpolation. According to the track length information and the interpolation period, the conditions of adjusting the corner joint speed of the processing track include: if the track length of the current corner joint speed walking in one interpolation period is greater than the remaining allowable processing length in the processing track, the corner joint speed is updated at a speed corresponding to one interpolation period.

The displacements in the interpolation process are all related to an integer number of interpolation periods, i.e. the displacement may be 1 interpolation period corresponding to the displacement or the sum of 2 or more interpolation periods corresponding to the displacement. In order to ensure that the remaining allowable processing length in the processing track can meet the execution requirement of the interpolator, the current corner engagement speed is required to be reduced under the condition that the interpolation period is smaller than the corresponding displacement of the interpolation period so as to meet the corner engagement speed required by the at least one interpolation period corresponding displacement, thereby realizing that the processing speed can be achieved and further improving the laser processing precision.

It should be understood that, although the steps in the above-described flowcharts are shown in order according to the arrows, these steps are not necessarily performed in order according to the order of the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least one of the above sub-steps may comprise a plurality of sub-steps or phases, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of the sub-steps or phases of other steps or other steps. It should be noted that the above-described different embodiments may be combined with each other.

FIG. 8 is a block diagram schematically illustrating a corner joint speed processing apparatus according to an embodiment.

In this embodiment, as shown in fig. 8, the corner joint speed processing device includes a constraint speed acquisition module 20, a local extremum determining module 40, and a joint speed determining module 60.

And the constraint speed acquisition module 20 is used for acquiring the corner constraint speed of the adjacent sub-processing track.

The local extremum determining module 40 is connected to the constraint speed acquisition module 20 and is configured to determine a local extremum of the corner constraint speed according to the corner constraint speed.

The linking speed determining module 60 is respectively connected with the constraint speed acquiring module 20 and the local extremum determining module 40, and is used for determining the planned corner linking speed of the sub-processing track according to the corner constraint speed, the local extremum of the corner constraint speed and the speed planning model data of the sub-processing track; the corner constraint speed local extremum is the speed of one end point of the sub-processing track, and the corner engagement speed is the speed of the other end point of the sub-processing track.

In this embodiment, each module is configured to execute each step in the corresponding embodiment in fig. 1, and specifically refer to fig. 1 and the related description in the corresponding embodiment in fig. 1, which are not repeated herein.

The corner joint speed processing device provided in this embodiment acquires corner constraint speeds of adjacent sub-processing tracks through the constraint speed acquisition module 20; a local extremum determining module 40, coupled to the constraint speed acquisition module 20, for determining a local extremum of the corner constraint speed based on the corner constraint speed; the linking speed determining module 60 is respectively connected with the constraint speed acquiring module 20 and the local extremum determining module 40, and determines a planned corner linking speed of the sub-processing track according to the corner constraint speed, the corner constraint speed local extremum and the speed planning model data of the sub-processing track; the corner constraint speed local extremum is the speed of one end point of the sub-processing track, and the corner engagement speed is the speed of the other end point of the sub-processing track.

According to the above, the local extreme value of the corner constraint speed is the speed of one end point of the sub-processing track, the local extreme value of the corner constraint speed is the local minimum or maximum, the speed planning model data of the sub-processing track is combined with the local extreme value of the corner constraint speed (i.e. the speed of one end point of the sub-processing track) and the corner constraint speed is taken as the constraint, so that the speed of the other end point of the sub-processing track can be ensured not to be too high or too low, the speeds of the two end points of the sub-processing track can meet the requirement of the speed planning model data, the situation that processing equipment (such as cutting equipment) cannot process or process in place (such as over-cutting or under-cutting) in the actual processing process can be prevented, and the processing quality can be improved. The device confirms the planning corner linking speed that satisfies speed planning model data through the local extremum of corner constraint speed to regard the local extremum of corner constraint speed and planning corner linking speed as the speed of two endpoints of sub-processing track respectively, realize that the speed of two endpoints of sub-processing track all satisfies speed planning model data requirement, thereby guarantee the continuity of corner linking speed, and then improve and appear excessive processing or processing problem not in place, effectively improve laser processing precision.

Fig. 9 is a schematic block diagram showing the specific structure of the engagement speed determining module 60 in one embodiment.

In this embodiment, as shown in fig. 9, the linking speed determining module 60 includes a model and parameter obtaining unit 620, a model speed determining unit 640, and a planning speed determining unit 660.

The model and parameter obtaining unit 620 is configured to obtain a speed planning model and track parameters of the sub-processing track.

The model speed determining unit 640 is connected to the model and parameter obtaining unit 620, and is configured to input the local extremum of the corner constraint speed and the track parameter into the speed planning model, and determine the model corner joint speed of the sub-processing track.

A planning speed determining unit 660, coupled to the model speed determining unit 640, for determining a planning corner engagement speed of the sub-processing track based on the model corner engagement speed, subject to the corner constraint speed.

In this embodiment, each unit is configured to execute each step in the corresponding embodiment in fig. 3, and specifically refer to fig. 3 and the related description in the corresponding embodiment in fig. 3, which are not repeated herein.

The corner joint speed processing device provided by the embodiment reads preset parameters such as a speed planning model, track parameters and the like through a controller; inputting the corner constraint speed local extremum and the track parameter into a speed planning model, and outputting the model corner engagement speed after model calculation; comparing the magnitude relation between the corner constraint speed and the model corner engagement speed, and determining the smaller value or the larger value of the corner constraint speed and the model corner engagement speed as the planning corner engagement speed. By the corner joint speed processing method, the operation requirements of a processing machine tool and a programming software kernel are met while the planning corner joint speed meets the speed planning model and track parameter requirements, the continuity and the performability of the corner joint speed are effectively improved, the problem of excessive processing or insufficient processing is further solved, and therefore the laser processing precision is improved.

FIG. 10 is a block diagram schematically illustrating the construction of the engagement speed determination module 60 in one embodiment.

In this embodiment, as shown in fig. 10, the linking speed determining module 60 includes a model and parameter obtaining unit 620, an extremum ordering unit 630, a model speed determining unit 640, and a planning speed determining unit 660.

The extremum ordering unit 630 is connected to the model and parameter obtaining unit 620, and is configured to order the local extremum of the corner constraint speed according to the magnitude of the value, so as to obtain extremum ordering.

The model speed determining unit 640 is connected to the model and parameter acquiring unit 620 and the extremum sorting unit 630, and is further configured to input the local extremum of the corner constraint speed and the track parameter into the speed planning model according to the extremum sorting, and determine a model corner joint speed of the sub-processing track.

The planning speed determining unit 660 is further configured to determine a planning corner engagement speed of the sub-processing track based on the model corner engagement speed, with the model speed determining unit 640 being further configured to take the corner constraint speed as a constraint condition.

In this embodiment, each unit is configured to execute each step in the corresponding embodiment in fig. 4, and specifically refer to fig. 4 and the related description in the corresponding embodiment in fig. 4, which are not repeated herein.

In one embodiment, the engagement speed determination module 60 further includes a constraint speed update unit 670; the constraint speed updating unit 670 is connected to the planning speed determining unit 660, and is configured to update the corresponding corner constraint speed according to the determined planning corner engagement speed after determining a planning corner engagement speed, and then determine the planning corner engagement speed of the corresponding sub-processing track by using the updated corner constraint speed as a constraint condition.

In one embodiment, the model speed determining unit 640 is specifically configured to determine the model corner engagement speed of the sub-processing track by inputting the track parameters into the speed planning model and inputting the corner maximum speed local minimum value into the speed planning model from small to large according to the minimum value ranking.

In one embodiment, the model speed determining unit 640 is specifically further configured to input the track parameters into the speed planning model according to the maximum ranking, and iteratively determine the model corner engagement speed of the sub-processing track by inputting the corner maximum speed local maximum value into the speed planning model from large to small.

In one embodiment, the model speed determining unit 640 is specifically further configured to determine, for sub-processing tracks between two adjacent corner maximum speed local minima, which are ordered from small to large, starting from the sub-processing track where the first corner maximum speed local minima is located, input the corner maximum speed local minima corresponding to each sub-processing track into the speed planning model, and input the corresponding track parameter into the speed planning model, and determine the model corner joint speed of each sub-processing track.

In one embodiment, the model speed determining unit 640 is specifically further configured to input a local minimum value of a maximum speed of a corner corresponding to each sub-processing track into the speed planning model, input corresponding track parameters into the speed planning model, and determine a model corner joint speed of each sub-processing track through forward speed planning and reverse speed planning.

In this embodiment, each unit is configured to execute each step in the foregoing corresponding embodiment, and detailed descriptions in the foregoing corresponding embodiment are referred to specifically, and are not repeated herein.

Fig. 11 is a schematic block diagram showing a specific structure of the local extremum determining module 40 in one embodiment.

In the present embodiment, as shown in fig. 11, the local extremum determining module 40 includes a constraint speed setting unit 420 and a local extremum acquiring unit 440.

The constraint speed setting unit 420 is configured to take a start speed and an end speed of each sub-processing track as corner constraint speeds.

The local extremum obtaining unit 440 is connected to the constraint speed setting unit 420, and is configured to obtain a local extremum of the corner constraint speed according to the magnitude relation of the adjacent corner constraint speeds.

In this embodiment, each unit is configured to execute each step in the corresponding embodiment in fig. 5, and specifically refer to fig. 5 and the related description in the corresponding embodiment in fig. 5, which are not repeated herein.

In one embodiment, the local extremum obtaining unit 440 is specifically configured to determine, from a group of P adjacent corner constraint speeds from the first corner constraint speed to the last corner constraint speed, one extremum from each group as a local extremum of the corner constraint speeds, and P is an integer greater than or equal to 3.

FIG. 12 is a block diagram schematically illustrating a specific configuration of the constraint speed acquisition module 20 in one embodiment.

In the present embodiment, as shown in fig. 12, the constraint speed acquisition module 20 includes a geometric information acquisition unit 220, a corner type determination unit 240, and a constraint determination unit 260.

The geometric information obtaining unit 220 is configured to obtain geometric information of the sub-processing track.

The corner type determining unit 240 is configured to determine a geometric corner type of the adjacent sub-processing track.

The constraint determining unit 260 is connected to the geometric information obtaining unit 220 and the corner type determining unit 240, respectively, and is configured to determine corner constraint speeds of the adjacent sub-processing tracks according to the geometric corner types and the geometric information.

In this embodiment, each unit is configured to execute each step in the corresponding embodiment in fig. 6, and specifically refer to fig. 6 and the related description in the corresponding embodiment in fig. 6, which are not repeated herein.

In one embodiment, the constraint determining unit 260 is specifically configured to:

and when the geometric corner type is a corner formed by connecting straight lines and the included angle of the adjacent sub-processing tracks is zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed of the processing tracks.

When the geometric corner type is a corner formed by connecting straight lines and the included angle of the adjacent sub-processing tracks is not zero, the corner constraint speed of the adjacent sub-processing tracks is zero. Or (b)

When the geometric corner type is a corner formed by connecting a straight line and an arc line or a corner formed by connecting an arc line and a straight line, and the included angle of the adjacent sub-processing tracks is zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed and the centripetal speed of the processing tracks.

When the geometric corner type is a corner formed by connecting a straight line and an arc line or a corner formed by connecting an arc line and a straight line, and the included angle of the adjacent sub-processing tracks is not zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed, the centripetal speed and the included angle of the adjacent sub-processing tracks of the processing tracks. Or (b)

And when the geometric corner type is a corner formed by connecting an arc line and the included angle of the adjacent sub-processing tracks is zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed and the centripetal speed minimum value of the processing tracks.

And when the geometric corner type is a corner formed by connecting an arc line and an arc line, and the included angle of the adjacent sub-processing tracks is not zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed of the processing tracks, the centripetal speed minimum value and the included angle of the adjacent sub-processing tracks.

In this embodiment, the constraint determining unit 260 is configured to perform each step in the foregoing corresponding embodiment, and specific reference is made to the related description in the foregoing corresponding embodiment, which is not repeated herein.

FIG. 13 is a block diagram schematically illustrating a structure of a corner joint speed processing apparatus according to an embodiment.

In this embodiment, as shown in fig. 13, the corner joint speed processing apparatus further includes a track length acquisition module 30 and a planning speed adjustment module 50.

The track length obtaining module 30 is configured to obtain track length information of the processing track.

The planning speed adjusting module 50 is connected to the track length obtaining module 30, and is configured to adjust the planning corner engagement speed of the sub-processing track according to the track length information and the interpolation period.

In this embodiment, each unit is configured to execute each step in the corresponding embodiment in fig. 7, and specifically refer to fig. 7 and related descriptions in the corresponding embodiment in fig. 7, which are not repeated herein.

The division of the various modules in the corner joint speed processing device described above is for illustration only, and in other embodiments, the corner joint speed processing device may be divided into different modules as needed to perform all or part of the functions of the corner joint speed processing device described above.

The specific limitation of the corner joint speed processing device can be referred to as limitation of the corner joint speed processing method hereinabove, and will not be described herein. The various modules in the corner joint speed processing apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the processing device, or may be stored in software in a memory in the processing device, so that the processor may call and execute operations corresponding to the above modules.

In this embodiment, as shown in fig. 14, the processing apparatus includes a memory A1 (memory) and a processor A2 (processor); a display screen A3, a communication interface (Communications Interface), and a bus may also be included.

The memory A1, the processor A2, the display screen A3 and the communication interface can complete communication through buses; the display screen A3 is set to display a user operation interface preset in an initial setting mode, and meanwhile, the display screen A3 can also display a process control window; the communication interface can transmit information; the memory A1 stores a computer program, and the processor A2 may call logic instructions in the memory A1 to execute the method in the above embodiment.

Further, the logic instructions in the memory A1 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone article.

The memory A1 is a computer readable storage medium, and may be configured to store a software program, a computer executable program, and program instructions or modules corresponding to the methods in the embodiments of the present application. The processor A2 executes the functional application and the data processing by running the software program, instructions or modules stored in the memory A1, that is, implements the method in the above-described embodiment.

The memory A1 comprises a memory program area and a memory data area, wherein the memory program area can store an operating system and application programs required by at least one function; the storage data area may store data created according to the use of the terminal device, etc. Further, the memory A1 may include a high-speed random access memory, and may also include a nonvolatile memory.

The processor A2 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the methods in the above embodiments.

The embodiment of the application also provides a computer program product which, when run on a terminal device, causes the terminal device to perform the method described in the above embodiment.

According to the corner joint speed processing method, the corner joint speed processing device, the processing equipment and the readable storage medium, the planned corner joint speed meeting the speed planning model data is determined through the corner constraint speed local extremum, the corner constraint speed local extremum and the planned corner joint speed are respectively used as speeds of two endpoints of the sub-processing track, the speeds of the two endpoints of the sub-processing track meet the speed planning model data requirement, continuity of the corner joint speed is guaranteed, the problem that excessive processing or insufficient processing occurs is solved, the laser processing precision is effectively improved, and the method has important economic value and popularization and practice value.

Any reference to memory, storage, database, or other medium used in the present application may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. A corner engagement speed processing method applied to a processing track including a plurality of sub-processing tracks, comprising:

acquiring corner constraint speeds of adjacent sub-processing tracks;

2. The corner joint speed processing method according to claim 1, wherein the determining the planned corner joint speed of the sub-processing track from the corner constraint speed, the corner constraint speed local extremum, and the speed planning model data of the sub-processing track comprises:

acquiring a speed planning model and track parameters of the sub-processing track;

inputting the local extremum of the corner constraint speed and the track parameter into the speed planning model, and determining the model corner joint speed of the sub-processing track;

And determining the planned corner engagement speed of the machining track of the sub-tool based on the model corner engagement speed by taking the corner restriction speed as a constraint condition.

3. The corner joint speed processing method of claim 1, wherein the determining the planned corner joint speed of the sub-processing track from the corner constraint speed, the corner constraint speed local extremum, and the speed planning model data of the sub-processing track further comprises:

sorting the local extremum of the corner constraint speed according to the value to obtain extremum sorting;

inputting the local extremum of the corner constraint speed and the track parameter into the speed planning model according to the extremum sequence, and determining the model corner joint speed of the sub-processing track;

4. The corner joint speed processing method of claim 3, wherein the determining the planned corner joint speed of the sub-processing track based on the corner constraint speed, the corner constraint speed local extremum, and the speed planning model data of the sub-processing track further comprises: after one planning corner engagement speed is determined, updating the corresponding corner constraint speed according to the determined planning corner engagement speed, and subsequently determining the planning corner engagement speed of the corresponding machining track by taking the updated corner constraint speed as a constraint condition.

5. The method for processing corner joint speed according to claim 4, wherein the obtaining the corner constraint speed of the adjacent sub-processing track specifically comprises: acquiring the maximum speed of a corner of an adjacent sub-processing track;

the method for determining the corner constraint speed local extremum according to the corner constraint speed comprises the following steps: determining a corner maximum speed local minimum value according to the corner maximum speed;

the local extremum of the corner constraint speed is sequenced according to the magnitude of the value, and extremum sequencing is obtained, specifically: sorting the maximum speed local minima of the corner according to the value, and obtaining minimum value sorting;

inputting the local extremum of the corner constraint speed and the track parameter into the speed planning model according to the extremum sorting, and determining the model corner joint speed of the sub-processing track, wherein the model corner joint speed is specifically as follows: and according to the minimum value sequence, inputting the track parameters into the speed planning model, inputting the local minimum value of the maximum speed of the corner into the speed planning model from small to large, and determining the model corner connection speed of the sub-processing track.

6. The corner joint speed processing method according to claim 5, wherein the determining the model corner joint speed of the sub-processing trajectory by inputting the trajectory parameters into the speed planning model and inputting the local minimum of the corner maximum speed into the speed planning model from small to large according to the minimum ranking comprises:

And inputting the local minimum values of the maximum speeds of the corners corresponding to the sub-processing tracks into the speed planning model and inputting the corresponding track parameters into the speed planning model from the sub-processing track where the local minimum value of the maximum speeds of the first corner is located, and determining the model corner connection speed of each sub-processing track.

7. The corner joint speed processing method according to claim 6, wherein said inputting the local minimum of the maximum speed of the corner corresponding to each sub-processing track into the speed planning model and inputting the corresponding track parameter into the speed planning model, determining the model corner joint speed of each sub-processing track, comprises:

and inputting the local minimum value of the maximum speed of the corner corresponding to each sub-processing track into the speed planning model, inputting the corresponding track parameter into the speed planning model, and determining the model corner connection speed of each sub-processing track through forward speed planning and reverse speed planning.

8. The corner joint speed processing method according to any one of claims 1 to 7, wherein the determining a corner constraint speed local extremum from the corner constraint speed specifically comprises:

Taking the starting point speed and the end point speed of each sub-processing track as corner constraint speeds;

and obtaining a local extreme value of the corner constraint speed according to the magnitude relation of the adjacent corner constraint speeds.

9. The method for processing the corner joint speed according to claim 8, wherein the obtaining the local extremum of the corner constraint speed according to the magnitude relation of the adjacent corner constraint speeds is specifically: and from the first corner constraint speed to the last corner constraint speed, P adjacent corner constraint speeds are taken as a group, an extreme value is determined from each group as a local extreme value of the corner constraint speeds, and P is an integer greater than or equal to 3.

10. The corner engagement speed processing method according to any one of claims 1 to 7, characterized in that the obtaining the corner constraint speed of the adjacent sub-processing trajectories includes:

obtaining geometric information of the sub-processing track;

determining the geometric corner types of adjacent sub-processing tracks;

and determining the corner constraint speed of the adjacent sub-processing tracks according to the geometric corner type and the geometric information.

11. The corner joint speed processing method according to claim 10, wherein the geometric corner types include a corner formed by joining a straight line and a straight line, a corner formed by joining a straight line and an arc line, a corner formed by joining an arc line and a straight line, and a corner formed by joining an arc line and an arc line, and the geometric information is an included angle of adjacent sub-processing tracks; the determining the corner constraint speed of the adjacent sub-processing track according to the geometric corner type and the geometric information comprises the following steps:

When the geometric corner type is a corner formed by connecting straight lines and the included angle of the adjacent sub-processing tracks is zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed of the processing tracks;

when the geometric corner type is a corner formed by connecting straight lines and the included angle of the adjacent sub-processing tracks is not zero, the corner constraint speed of the adjacent sub-processing tracks is zero; or (b)

When the geometric corner type is a corner formed by connecting a straight line and an arc line or a corner formed by connecting an arc line and a straight line, and the included angle of the adjacent sub-processing tracks is zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed and the centripetal speed of the processing tracks;

when the geometric corner type is a corner formed by connecting a straight line and an arc line or a corner formed by connecting an arc line and a straight line, and the included angle of the adjacent sub-processing tracks is not zero, determining the corner constraint speed of the adjacent sub-processing tracks according to the full track constraint speed, the centripetal speed and the included angle of the adjacent sub-processing tracks; or (b)

When the geometric corner type is a corner formed by connecting an arc line and the included angle of the adjacent sub-processing track is zero, determining the corner constraint speed of the adjacent sub-processing track according to the minimum value of the full track constraint speed and the centripetal speed of the processing track;

And when the geometric corner type is a corner formed by connecting an arc line and an arc line, and the included angle of the adjacent sub-processing track is not zero, determining the corner constraint speed of the adjacent sub-processing track according to the full track constraint speed, the centripetal speed minimum value and the included angle of the adjacent sub-processing track of the processing track.

12. The corner engagement speed processing method according to any one of claims 1 to 7, characterized by further comprising:

acquiring track length information of the processing track;

and adjusting the planned corner connection speed of the sub-processing track according to the track length information and the interpolation period.

13. A corner joint speed processing apparatus, comprising:

14. A processing apparatus comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform the method of any of claims 1 to 12.

15. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any one of claims 1 to 12.