CN117381179A - Processing track fairing method, device, processing equipment and readable storage medium - Google Patents
Processing track fairing method, device, processing equipment and readable storage medium Download PDFInfo
- Publication number
- CN117381179A CN117381179A CN202311252851.0A CN202311252851A CN117381179A CN 117381179 A CN117381179 A CN 117381179A CN 202311252851 A CN202311252851 A CN 202311252851A CN 117381179 A CN117381179 A CN 117381179A
- Authority
- CN
- China
- Prior art keywords
- fairing
- corner
- determining
- track
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012545 processing Methods 0.000 title claims abstract description 151
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 230000006978 adaptation Effects 0.000 claims description 49
- 238000004590 computer program Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 6
- 238000009499 grossing Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 21
- 230000002159 abnormal effect Effects 0.000 abstract description 6
- 230000001133 acceleration Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 14
- 238000010276 construction Methods 0.000 description 10
- 238000003754 machining Methods 0.000 description 10
- 230000003044 adaptive effect Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 6
- 230000000295 complement effect Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000007704 transition Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003698 laser cutting Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Numerical Control (AREA)
Abstract
The application relates to a processing track fairing method, a device, a processing equipment and a readable storage medium, wherein the method comprises the following steps: obtaining geometric corner information and fairing error constraint values of adjacent sub-processing tracks; determining a track curvature constraint value and fairing line information based on the geometric corner information and the fairing error constraint value; and determining the fairing path of the processing track according to the track curvature constraint value, the fairing straight line information and the fairing curve model. The method can realize that the curvature (including the curvature of the starting point and the ending point) of all track points of the fairing curve changes gradually, and in addition, the feeding speed at the corner can change in a larger range by limiting the curvature maximum value at each track point, so that the continuity of the speed and the acceleration at the corner can be ensured, the problem of abnormal vibration of the machine tool caused by uneven track curvature change can be solved, and the laser processing precision can be improved.
Description
Technical Field
The present disclosure relates to the field of laser processing, and in particular, to a processing track fairing method, device, processing apparatus, and 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, the processing track planning is used as a core of laser processing control, and the laser processing precision is directly influenced.
In actual machining, most machining tracks comprise linear corners formed by adjacent linear sub-machining tracks, and the linear corners lead to abrupt changes of track curvature in machining, so that abnormal vibration of a machine tool is caused, and laser machining accuracy is seriously affected.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a processing track smoothing method, apparatus, processing device, and readable storage medium.
A processing track fairing method applied to a processing track comprising a plurality of sub-processing tracks, comprising:
obtaining geometric corner information and a fairing error constraint value of adjacent sub-processing tracks;
determining a trajectory curvature constraint value and a fairing line information based on the geometric corner information and the fairing error constraint value;
and determining the fairing path of the processing track according to the track curvature constraint value, the fairing straight line information and the fairing curve model.
In one embodiment, the obtaining geometric corner information and a fairing error constraint value of the adjacent sub-processing tracks specifically includes: acquiring the maximum tolerance of the corner angles and the corner fairing of the adjacent sub-processing tracks;
the determining a trajectory curvature constraint value based on the geometric corner information and the fairing error constraint value includes:
acquiring corner adaptation parameters corresponding to the corner angles based on the corner angles;
and determining the track curvature constraint value according to the corner adaptation parameter and the corner fairing maximum tolerance.
In one embodiment, the determining the trajectory curvature constraint value according to the corner adaptation parameter and the corner fairing maximum tolerance comprises:
acquiring a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter;
and inputting the corner fairing coefficient, the corner fairing maximum tolerance and the corner angle parameter into a curvature constraint model, and determining the track curvature constraint value corresponding to the corner angle.
In one embodiment, the determining the fairing line information specifically includes: determining a fairing line length target value;
the determining the fairing line information based on the geometric corner information and the fairing error constraint value includes:
acquiring corner adaptation parameters corresponding to the corner angles based on the corner angles;
and determining the fairing linear length target value according to the corner adaptation parameter and the corner fairing maximum tolerance.
In one embodiment, the determining the fairing linear length target value according to the corner adaptation parameter and the corner fairing maximum tolerance includes:
acquiring a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter;
inputting the corner fairing coefficient, the corner fairing maximum tolerance and the corner angle parameter into a fairing linear length model, and determining a fairing linear length reference value corresponding to the corner angle;
and determining the fairing linear length target value based on the fairing linear length reference value by taking the fairing linear length constraint value of the adjacent sub-processing tracks as a constraint condition.
In one embodiment, the determining the target value of the length of the fairing line based on the reference value of the length of the fairing line with the constraint value of the length of the fairing line adjacent to the sub-processing track as a constraint condition includes:
and comparing the size relation between the fairing linear length reference value and the fairing linear length constraint value, and selecting the smaller value of the fairing linear length reference value and the fairing linear length constraint value as the fairing linear length target value.
In one embodiment, the determining the fairing path of the processing track according to the track curvature constraint value, the fairing straight line information and the fairing curve model includes:
determining a fairing curve arc length based on the fairing curve model by taking the track curvature constraint value as a constraint condition;
and determining a fairing path of the processing track according to the length planning value of the sub-processing track, the fairing linear length target value and the fairing curve arc length.
In one embodiment, the determining the fairing curve arc length based on the fairing curve model using the trajectory curvature constraint value as a constraint condition specifically includes:
constructing the fairing curve with the curvature maximum value at the joint of the two symmetrical cubic Bezier curves by taking the track curvature constraint value as a constraint condition;
and determining the fairing curve arc length based on the fairing curve model.
In one embodiment, the method further comprises:
acquiring corner adaptation parameters corresponding to a corner angle based on the corner angle;
acquiring a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter;
and determining control point coordinates of a fairing curve according to the corner adaptation parameter, the corner fairing coefficient and the fairing error constraint value.
A processing track fairing device for a processing track comprising a plurality of sub-processing tracks, comprising:
the information acquisition module is used for acquiring geometric corner information and fairing error constraint values of adjacent sub-processing tracks;
the curvature determining module is connected with the information acquisition module and is used for determining a track curvature constraint value and fairing straight line information based on the geometric corner information and the fairing error constraint value;
and the path determining module is connected with the curvature determining module and is used for determining the fairing path of the processing track according to the track curvature constraint value, the fairing straight line information and the fairing curve model.
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 beneficial effects of the embodiment provided by the application include:
according to the processing track fairing method, track curvature constraint values and fairing straight line information corresponding to different geometric corners are determined according to geometric corners formed by adjacent sub-processing tracks and processing track fairing error constraint values, the processing track fairing method can adapt to the requirements on feeding speeds at the corners and the changes of actual permissible conditions when the different geometric corners change, curvature changes at all track points on a fairing curve are limited by the track curvature constraint values and are kept within a certain range, transition is avoided in a short time of track curvature, the curvature (including starting and ending curvature) changes at all track points of the fairing curve are gentle, in addition, the feeding speeds at the corners can be changed within a larger range by limiting the curvature maximum value at all track points, the continuity of speeds and accelerations at the corners can be ensured, the problem of abnormal vibration of a machine tool caused by uneven track curvature changes is solved, and the laser processing precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present 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 below, it being obvious that the drawings in the following description are only some embodiments of the present 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 diagram of a process trajectory fairing method in one embodiment;
FIG. 2 is a schematic flow chart of step 104 in one embodiment;
FIG. 2a is a schematic diagram of a cubic Bezier curve in one embodiment;
FIG. 3 is a schematic flow chart of step 104 in one embodiment;
FIG. 4 is a schematic flow chart of step 106 in one embodiment;
FIG. 5 is a schematic diagram of a fairing path in one embodiment;
FIG. 6 is a flow diagram of a process trajectory fairing method in one embodiment;
FIG. 7 is a schematic illustration of two fairing curves constructed at the corners of adjacent linear sub-process tracks in one embodiment;
FIG. 8 is a block diagram of a schematic of a processing track fairing device in one embodiment;
FIG. 9 is a block diagram illustrating a specific configuration of curvature determination module 40 in one embodiment;
FIG. 10 is a block diagram illustrating a specific construction of curvature determination module 40 in one embodiment;
FIG. 11 is a block diagram illustrating the detailed construction of the path determination module 60 in one embodiment;
FIG. 12 is a schematic diagram of a processing track fairing device in accordance with an embodiment;
fig. 13 is a schematic view of a construction of a processing apparatus in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present 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 method of processing trace fairing in one embodiment.
In this embodiment, as shown in fig. 1, the processing track fairing method is applied to a processing track including a plurality of sub-processing tracks, and the processing track fairing method includes steps 102 to 106.
And 102, acquiring geometric corner information and a fairing error constraint value of adjacent sub-processing tracks.
The machining trajectory may be a laser machining initial planned trajectory or a machining initial planned trajectory. The sub-process trajectory may be a linear trajectory. Adjacent sub-process tracks may be linear tracks sharing at least one endpoint. The geometric corner information may be a corner angle, i.e. the angle size of the included angle formed by adjacent linear sub-processing tracks. The fairing error constraint value may be a corner fairing maximum tolerance, alternatively the fairing error constraint value may be a contour error extremum used to construct a splice of the fairing curves in the fairing path (i.e., where the curvature of the fairing path is maximum).
The obtaining of the geometric corner information and the fairing error constraint value of the adjacent sub-processing tracks comprises the following steps: and analyzing corners formed by adjacent linear sub-processing tracks in the processing tracks through a track analysis model, and setting a contour error extremum of a splicing position of a fairing curve in the construction fairing path.
And 104, determining a track curvature constraint value and a fairing line information based on the geometric corner information and the fairing error constraint value.
The trajectory curvature constraint value may be a maximum curvature permitted for each point on the processing trajectory and the fairing path, i.e. a maximum fairing curvature, and may be applied in particular to scenes in which a maximum curvature is limited. The fairing line information may be specific length information of a fairing line required to be planned in the fairing path construction process, that is, a fairing line length target value.
The locus curvature constraint value (i.e., the maximum value of the fairing curvature) is a speed-sensitive point, and has a constraint effect on the feeding speed of laser processing. The track curvature constraint value and the fairing linear information can be different along with the corner angles formed by adjacent linear sub-processing tracks, the respective value ranges are adapted and adjusted, and the requirements on the feeding speed at the corners and the actual permissible condition changes when different geometric corners are changed can be met.
And 106, determining a fairing path of the processing track according to the track curvature constraint value, the fairing straight line information and the fairing curve model.
The model of the fairing curve may be a computational model for planning the fairing curve during the construction of the fairing path. The fairing path may be a processing path defined by a fairing curve and a fairing line constructed between adjacent sub-processing tracks. Alternatively, the fairing path may be a processing path determined by a fairing curve constructed by a plurality of sections of cubic B-spline curves and a fairing line joining the fairing curves. The fairing curve can be a fairing processing path constructed by a multi-section fitting curve. The fairing line may be a straight line path that joins and constrains the fairing curve. In particular, the fairing path may be an approximately inverted S-shaped curve.
When the angle of the corner formed by the adjacent linear sub-processing tracks changes, analyzing the corner formed by the adjacent linear sub-processing tracks in the processing tracks through a track analysis model, and setting a contour error extremum at the splicing position of the fairing curves in the construction fairing path; and then determining a fairing curvature maximum value and a fairing linear length target value which are adapted to the current corner angle based on the corner angle and the fairing error constraint value, and constructing a fairing path adapted to the current corner angle according to the fairing curvature maximum value, the fairing linear length target value and the fairing curve model.
According to the processing track fairing method provided by the embodiment, track curvature constraint values and fairing straight line information corresponding to different geometric corners are determined according to geometric corners formed by adjacent sub-processing tracks and processing track fairing error constraint values, the processing track fairing method can adapt to the requirements on feeding speeds at the corners and the change of actual permissible conditions when the different geometric corners change, curvature changes at all track points on the fairing curves are limited by the track curvature constraint values to be kept within a certain range, transition of track curvature is avoided in a short time, the change of curvature (including starting and ending point curvature) at all track points of the fairing curves is gentle, in addition, the change of feeding speeds at the corners in a larger range can be realized by limiting the curvature maximum value at all track points, the continuity of speeds and accelerations at the corners can be ensured, the problem of abnormal vibration of a machine tool caused by uneven track curvature change is solved, and the laser processing precision can be improved.
FIG. 2 is a schematic flow chart of step 104 in one embodiment.
In the present embodiment, as shown in fig. 2, the step 104 includes sub-steps 202 to 204.
In step 202, corner adaptation parameters corresponding to the corner angles are obtained based on the corner angles.
The corner adaptation parameters may be parameters that change following the corner angle changes formed by adjacent linear sub-processing tracks and adapt the track curvature constraint values and the fairing line information.
Based on the corner angle, the obtaining the corner adaptation parameters corresponding to the corner angle includes: and obtaining the complementary angle of the corner angle, substituting the complementary angle into a calculation model of the corner adaptation parameter, and calculating the corner adaptation parameter corresponding to the corner angle.
Optionally, the corner adaptation parameter λ is calculated as follows:
wherein θ is the angle of the corner formed by adjacent linear sub-processing tracks.
In step 204, a trajectory curvature constraint value is determined based on the corner fitting parameters and the corner fairing maximum tolerance.
The determining of the trajectory curvature constraint value based on the corner fitting parameter and the corner fairing maximum tolerance includes: acquiring a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter; and inputting the corner fairing coefficient, the corner fairing maximum tolerance and the corner angle parameter into a curvature constraint model, and determining a track curvature constraint value corresponding to the corner angle.
The corner angle parameter includes a sine value of a corner angle corresponding to half the complement angle and a tangent value of the corner angle corresponding to half the complement angle. The corner fairing coefficient may be a coefficient that changes following the corner angle variation formed by adjacent linear sub-process tracks and adjusts the track curvature constraint value adaptively.
Optionally, the trajectory curvature constraint value (i.e., the maximum value of the fairing curvature) K max The calculation formula of (2) is as follows:
where β represents the complement half of the corner angle (as in fig. 5), and ε represents the maximum tolerance for corner fairing.
As shown in fig. 2.A, it can be determined that:
then the supplementary angle half β of the corner angle is known, the trajectory curvature constraint value K max The calculation formula of the corner fairing coefficient μ corresponding to the minimum value can be obtained is as follows:
i.e. lightThe cis-coefficient isWhen the fairing curve is at the corner, the corner track processing can be performed at a higher feed rate. At this time, the trajectory curvature constraint value (i.e., the maximum value of the fairing curvature) K for the complement angle half β and the corner fairing maximum tolerance ε of the same corner angle max Only by the corner adaptation parameter lambda.
The processing track fairing method provided in the embodiment can enable the value of the track curvature constraint value corresponding to the corner angle to be as small as possible, namely the track curvature change of the fairing curve at the corner is as small as possible along with the change of the corner angle, so that the speed and acceleration continuity at the corner can be ensured, the feeding speed at the corner can be improved, and the laser processing efficiency can be effectively improved.
FIG. 3 is a schematic flow chart of step 104 in one embodiment.
In this embodiment, as shown in FIG. 3, the step 104 includes substeps 302 through 304.
In step 302, corner adaptation parameters corresponding to the corner angles are obtained based on the corner angles.
In step 304, a fairing line length target value is determined based on the corner adaptation parameters and the corner fairing maximum tolerance.
The determining of the fairing line length target value based on the corner adaptation parameter and the corner fairing maximum tolerance includes: acquiring a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter; inputting a corner fairing coefficient, a corner fairing maximum tolerance and a corner angle parameter into a fairing linear length model, and determining a fairing linear length reference value corresponding to the corner angle; and determining a fairing linear length target value based on the fairing linear length reference value by taking the fairing linear length constraint value of the adjacent sub-processing tracks as a constraint condition.
The corner angle parameter includes a tangent value of the corner angle and a cosine value of the corner angle. The fairing line length model may be a calculation model for calculating a fairing line length reference value during the fairing path construction. The fairing-line length reference value may be an initial length value of the fairing line determined by the fairing-line length model. The fairing-line length constraint value may be a fairing-line length constrained by two adjacent linear sub-processing trajectories that form a corner angle. Alternatively, the fairing-line length constraint value may be half the length of the shorter of the two adjacent linear sub-processing trajectories that make up the corner angle. The fairing line length target value may be the smaller of both the fairing line length reference value and the fairing line length constraint value.
The determining of the fairing line length target value based on the fairing line length reference value by taking the fairing line length constraint value of the adjacent sub-processing tracks as a constraint condition comprises: and comparing the magnitude relation between the fairing linear length reference value and the fairing linear length constraint value, and selecting the smaller value of the fairing linear length reference value and the fairing linear length constraint value as the fairing linear length target value.
Optionally, the calculation formula of the fairing linear length target value is as follows:
l 2i ＝l 2i+1 ＝min(l t ,0.5*U i ,0.5*U i+1 )
wherein, I i Representing a reference value of the length of a smooth straight line, U i And U i+1 The lengths of two adjacent linear sub-processing tracks constituting the corner angle are respectively represented.
According to the processing track fairing method provided by the embodiment, the fairing maximum tolerance (namely the track curvature constraint value) of the corners and half of the lengths (namely the fairing linear length constraint value) of two adjacent linear sub-processing tracks forming the corners are taken as constraint conditions, so that the fairing linear length target value which changes along with the change of the angles of the corners formed by the adjacent linear sub-processing tracks is obtained, the fairing linear length value forming the corners is constrained, the condition that the constructed adjacent fairing curves are overlapped in a crossing mode is avoided, the constraint conditions of the actual processing tracks are fully considered, and the practicability and feasibility of the fairing path structure are ensured.
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 substeps 402 to 404.
In step 402, a fairing curve arc length is determined based on the fairing curve model using the trajectory curvature constraint value as a constraint condition.
In step 404, a fairing path of the processing track is determined based on the length planning value, the fairing linear length target value, and the fairing curve arc length of the sub-processing track.
The fairing curve arc length may be a value of the length of the fairing curve. Alternatively, the fairing curve arc length may be the length of a cubic bezier curve. The length planning value of the sub-processing track may be an initial length value of the linear sub-processing track.
The determining of the fairing curve arc length based on the fairing curve model using the trajectory curvature constraint value as a constraint condition comprises: constructing a fairing curve with a curvature maximum value at the joint of two symmetrical cubic Bezier curves by taking the track curvature constraint value as a constraint condition; and determining the arc length of the fairing curve based on the fairing curve model.
Optionally, based on the fairing curve model, the equation for calculating the fairing curve arc length using the adaptive simpson algorithm is as follows:
wherein C is 1 (t) represents the first derivative of the cubic bezier curve, a=t i ，b＝t i+1 。
Alternatively, as shown in fig. 5, the calculation formula of the fairing path is as follows:
in U i+1 Representing the length of the linear sub-processing track; l (L) 2i+1 A target value of the length of the smooth straight line near one end of the linear sub-processing track is shown; l (L) 2(i+1) Representing a target value of the length of the smooth straight line near the other end of the linear sub-processing track; l (L) B2i+1 Representing the arc length of a fairing curve near one end of the linear sub-processing track; l (L) B2(i+1) Indicating the arc length of the fairing curve near the other end of the linear sub-processing track.
The processing track fairing method provided by the embodiment can perform speed planning based on fairing curve interpolation, so that the speed planning of the processing track is realized, and the laser processing efficiency is improved.
FIG. 6 is a flow chart of a method of processing trace fairing in one embodiment.
In this embodiment, as shown in fig. 6, the processing track fairing method includes steps 602 to 606.
Step 602, obtaining corner adaptation parameters corresponding to the corner angles based on the corner angles.
Step 604, obtaining corner fairing coefficients according to the corner adaptation parameters and the corner angle parameters.
Step 606, determining control point coordinates of the fairing curve according to the corner adaptation parameters, the corner fairing coefficients, and the fairing error constraint values.
The control point coordinates may be a plurality of control point coordinates constructing two symmetric cubic bezier curves.
Specifically, as shown in FIG. 7, two fairing curves B constructed at the corners of adjacent linear sub-process tracks 1 And B 2 Intersecting at B 1，3 (B 2，0 ) I.e. the curvature maxima are located at the junction of two symmetrical cubic bezier curves. Presetting that for the same corner, the straight line is smoothAnd->Equal length of B 1，3 (B 2，0 ) The tangential angle beta is +.P 0 P 1 P 2 Half of the outer angle. Thus two fairing curves B 1 And B 2 At point B 1，3 (B 2，0 ) The curvature and unit tangent vector of (A) are also equal to each other, and B 1，0 And B 2，3 A laser cutting entry point and a laser cutting exit point which are respectively a fairing curve, wherein the fairing curve is formed byThe curvature values of these two points are zero.
According to the related formula of the cubic Bezier curve, two symmetrical light-smooth curves B 1 And B 2 The respective control point coordinates of (2) may be calculated as follows:
wherein T is h Is angle P of corner 0 P 1 P 2 Unit vector of angular bisector, T 1 And T 2 Respectively is a line segmentAnd line segment->Is a unit vector of (a). T (T) v ＝T 1 * cos beta is the segment->G= |b 1,0 B 1,1 ||＝||B 2,2 B 2,3 ||，h＝||B 1, 1 B 1，2 ||＝||B 2,1 B 2，2 ||，k＝||B 1,2 B 1,3 ||＝||B 2,0 B 2,1 Corner fairing maximum tolerance epsilon= |b 1,3 -P 1 ||。
In combination with the following relation:
obtaining a fairing curve B 1 And B 2 Is defined, the control point coordinates of (a) are defined.
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 the construction of a track fairing apparatus in accordance with an embodiment.
In this embodiment, as shown in fig. 8, the processing track fairing device includes an information acquisition module 20, a curvature determination module 40, and a path determination module 60.
The information acquisition module 20 is configured to acquire geometric corner information and a fairing error constraint value of adjacent sub-processing tracks.
The curvature determining module 40 is connected to the information acquiring module 20 and is configured to determine a trajectory curvature constraint value and a fairing line information based on the geometric corner information and the fairing error constraint value.
The path determining module 60 is connected to the curvature determining module 40, and is configured to determine a fairing path of the processing track according to the track curvature constraint value, the fairing line information and the fairing curve model.
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 processing track fairing device provided in this embodiment acquires geometric corner information and fairing error constraint values of adjacent sub-processing tracks through the information acquisition module 20; a curvature determination module 40, coupled to the information acquisition module 20, for determining a trajectory curvature constraint value and a fairing line information based on the geometric corner information and the fairing error constraint value; a path determination module 60, coupled to the curvature determination module 40, determines a fairing path of the processing trajectory based on the trajectory curvature constraint value, the fairing line information, and the fairing curve model.
According to the above, according to the geometric corners formed by adjacent sub-processing tracks and the processing track fairing error constraint values, track curvature constraint values and fairing straight line information corresponding to different geometric corners are determined, the requirements on feeding speed at the corners and the change of actual permissible conditions when the different geometric corners change can be adapted, the curvature change at each track point on the fairing curve is limited by the track curvature constraint values and kept within a certain range, transition of track curvature in a short time is avoided, the change of curvature (including starting and ending curvature) at all track points of the fairing curve is relatively gentle, in addition, the change of feeding speed at the corners in a larger range can be realized by limiting the maximum value of curvature at each track point, the continuity of speed and acceleration at the corners can be ensured, the problem of abnormal vibration of the machine tool caused by uneven track curvature change is solved, and the laser processing precision can be improved.
Fig. 9 is a block diagram schematically illustrating a specific configuration of the curvature determining module 40 in one embodiment.
In the present embodiment, as shown in fig. 9, the curvature determination module 40 includes an adaptation parameter acquisition unit 420 and a curvature determination unit 440.
The parameter obtaining unit 420 is configured to obtain a corner adaptation parameter corresponding to the corner angle based on the corner angle.
The curvature determining unit 440 is connected to the parameter obtaining unit 420 for determining the trajectory curvature constraint value according to the corner adaptation parameter and the corner fairing maximum tolerance.
In this embodiment, each unit is configured to execute each step in the corresponding embodiment in fig. 2, and specifically refer to fig. 2 and the related description in the corresponding embodiment in fig. 2, which are not repeated herein.
Fig. 10 is a block diagram schematically illustrating a specific configuration of the curvature determining module 40 in one embodiment.
In the present embodiment, as shown in fig. 10, the curvature determination module 40 includes an adaptation parameter acquisition unit 420 and a straight line length determination unit 460.
An adaptation parameter obtaining unit 420, configured to obtain a corner adaptation parameter corresponding to the corner angle based on the corner angle.
The straight line length determining unit 460 is connected to the adaptive parameter obtaining unit 420, and is configured to determine a fairing straight line length target value according to the corner adaptive parameter and the corner fairing maximum tolerance.
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.
Fig. 11 is a schematic block diagram showing a specific structure of the path determining module 60 in one embodiment.
In the present embodiment, as shown in fig. 11, the path determining module 60 includes a curve arc length determining unit 620 and a fairing path determining unit 640.
The curve arc length determining unit 620 is configured to determine a fairing curve arc length based on the fairing curve model using the trajectory curvature constraint value as a constraint condition.
And a fairing path determining unit 640, connected to the curve arc length determining unit 620, for determining a fairing path of the machining track according to the length planning value, the fairing linear length target value and the fairing curve arc length of the sub-machining track.
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.
FIG. 12 is a schematic diagram of a processing track fairing device in accordance with an embodiment.
In this embodiment, as shown in fig. 12, the processing track fairing device includes an adaptive parameter acquisition module 30, a fairing coefficient acquisition module 50, and a coordinate determination module 70.
The adaptation parameter obtaining module 30 is configured to obtain corner adaptation parameters corresponding to the corner angles based on the corner angles.
The fairing coefficient obtaining module 50 is connected to the adaptation parameter obtaining module 30, and is configured to obtain a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter.
The coordinate determining module 70 is connected to the adaptive parameter acquiring module 30 and the fairing coefficient acquiring module 50, and is configured to determine coordinates of a control point of the fairing curve according to the corner adaptive parameter, the corner fairing coefficient and the fairing error constraint value.
In this embodiment, each module is configured to execute each step in the corresponding embodiment in fig. 6, and specifically refer to fig. 6 and related descriptions in the corresponding embodiment in fig. 6, which are not repeated herein.
In one embodiment, the curvature determining unit 440 is further configured to obtain a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter; and inputting the corner fairing coefficient, the corner fairing maximum tolerance and the corner angle parameter into a curvature constraint model, and determining a track curvature constraint value corresponding to the corner angle.
In one embodiment, the straight line length determining unit 460 is further configured to obtain a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter; inputting a corner fairing coefficient, a corner fairing maximum tolerance and a corner angle parameter into a fairing linear length model, and determining a fairing linear length reference value corresponding to the corner angle; and determining a fairing linear length target value based on the fairing linear length reference value by taking the fairing linear length constraint value of the adjacent sub-processing tracks as a constraint condition.
The units in the foregoing embodiments are used to execute the steps in the foregoing corresponding embodiments, and detailed descriptions in the foregoing corresponding embodiments are referred to herein and are not repeated herein.
The above-described division of the various modules in the processing track fairing is for illustration only, and in other embodiments, the processing track fairing may be divided into different modules as desired to perform all or part of the functions of the processing track fairing.
For specific limitations of the processing track fairing device, reference may be made to the above limitation of the processing track fairing method, and no further description is given here. The various modules in the processing track fairing 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.
Fig. 13 is a schematic view of a construction of a processing apparatus in one embodiment.
In this embodiment, as shown in fig. 13, 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.
Embodiments of the present application also provide 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 present application also provides a computer program product for causing a terminal device to execute the method in the above embodiment when the computer program product is run on the terminal device.
According to the processing track fairing method, the device, the processing equipment and the readable storage medium, track curvature constraint values and fairing straight line information corresponding to different geometric corners are determined according to geometric corners formed by adjacent sub-processing tracks and processing track fairing error constraint values, the method, the device and the processing equipment can adapt to the requirements of feeding speeds at the corners and the changes of actual permissible conditions when the geometric corners change, curvature changes at all track points on a fairing curve are limited by the track curvature constraint values and are kept within a certain range, transition is avoided in a short time of track curvature, the change of curvature (including starting and ending curvature) at all track points of the fairing curve is gentle, in addition, the change of the feeding speeds at the corners in a larger range can be realized by limiting the curvature maximum value at all track points, the continuity of speeds and accelerations at the corners can be ensured, the problem of abnormal vibration of a machine tool caused by uneven track curvature changes can be solved, and the laser processing precision can be improved.
Any reference to memory, storage, database, or other medium used herein 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 only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (12)
1. A processing track smoothing method applied to a processing track including a plurality of sub-processing tracks, comprising:
obtaining geometric corner information and a fairing error constraint value of adjacent sub-processing tracks;
determining a trajectory curvature constraint value and a fairing line information based on the geometric corner information and the fairing error constraint value;
and determining the fairing path of the processing track according to the track curvature constraint value, the fairing straight line information and the fairing curve model.
2. The method of claim 1, wherein the obtaining geometric corner information and a fairing error constraint value of adjacent sub-processing tracks is specifically: acquiring the maximum tolerance of the corner angles and the corner fairing of the adjacent sub-processing tracks;
the determining a trajectory curvature constraint value based on the geometric corner information and the fairing error constraint value includes:
acquiring corner adaptation parameters corresponding to the corner angles based on the corner angles;
and determining the track curvature constraint value according to the corner adaptation parameter and the corner fairing maximum tolerance.
3. The method of processing track fairing as recited in claim 2, wherein said determining said track curvature constraint value based on said corner adaptation parameter and said corner fairing maximum tolerance comprises:
acquiring a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter;
and inputting the corner fairing coefficient, the corner fairing maximum tolerance and the corner angle parameter into a curvature constraint model, and determining the track curvature constraint value corresponding to the corner angle.
4. The processing track fairing method according to claim 2, wherein the determining fairing line information specifically comprises: determining a fairing line length target value;
the determining the fairing line information based on the geometric corner information and the fairing error constraint value includes:
acquiring corner adaptation parameters corresponding to the corner angles based on the corner angles;
and determining the fairing linear length target value according to the corner adaptation parameter and the corner fairing maximum tolerance.
5. The process trajectory fairing method of claim 4, wherein the determining the fairing line length target value based on the corner adaptation parameter and the corner fairing maximum tolerance comprises:
acquiring a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter;
inputting the corner fairing coefficient, the corner fairing maximum tolerance and the corner angle parameter into a fairing linear length model, and determining a fairing linear length reference value corresponding to the corner angle;
and determining the fairing linear length target value based on the fairing linear length reference value by taking the fairing linear length constraint value of the adjacent sub-processing tracks as a constraint condition.
6. The method of claim 5, wherein determining the fairing line length target value based on the fairing line length reference value using the fairing line length constraint values of adjacent sub-processing trajectories as constraints comprises:
and comparing the size relation between the fairing linear length reference value and the fairing linear length constraint value, and selecting the smaller value of the fairing linear length reference value and the fairing linear length constraint value as the fairing linear length target value.
7. The method of claim 6, wherein determining the fairing path of the processing trajectory based on the trajectory curvature constraint value, the fairing straight line information, and a fairing curve model comprises:
determining a fairing curve arc length based on the fairing curve model by taking the track curvature constraint value as a constraint condition;
and determining a fairing path of the processing track according to the length planning value of the sub-processing track, the fairing linear length target value and the fairing curve arc length.
8. The method of claim 1, wherein determining a fairing curve arc length based on the fairing curve model using the trajectory curvature constraint value as a constraint condition, specifically comprises:
constructing the fairing curve with the curvature maximum value at the joint of the two symmetrical cubic Bezier curves by taking the track curvature constraint value as a constraint condition;
and determining the fairing curve arc length based on the fairing curve model.
9. The process trajectory fairing method of any one of claims 1 to 8, further comprising:
acquiring corner adaptation parameters corresponding to a corner angle based on the corner angle;
acquiring a corner fairing coefficient according to the corner adaptation parameter and the corner angle parameter;
and determining control point coordinates of a fairing curve according to the corner adaptation parameter, the corner fairing coefficient and the fairing error constraint value.
10. A processing track fairing device for a processing track including a plurality of sub-processing tracks, comprising:
the information acquisition module is used for acquiring geometric corner information and fairing error constraint values of adjacent sub-processing tracks;
the curvature determining module is connected with the information acquisition module and is used for determining a track curvature constraint value and fairing straight line information based on the geometric corner information and the fairing error constraint value;
and the path determining module is connected with the curvature determining module and is used for determining the fairing path of the processing track according to the track curvature constraint value, the fairing straight line information and the fairing curve model.
11. 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 9.
12. 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 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311252851.0A CN117381179A (en) | 2023-09-26 | 2023-09-26 | Processing track fairing method, device, processing equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311252851.0A CN117381179A (en) | 2023-09-26 | 2023-09-26 | Processing track fairing method, device, processing equipment and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117381179A true CN117381179A (en) | 2024-01-12 |
Family
ID=89464021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311252851.0A Pending CN117381179A (en) | 2023-09-26 | 2023-09-26 | Processing track fairing method, device, processing equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117381179A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118513693A (en) * | 2024-07-25 | 2024-08-20 | 徐州标特福数控科技有限公司 | Intelligent control system for laser cutting |
-
2023
- 2023-09-26 CN CN202311252851.0A patent/CN117381179A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118513693A (en) * | 2024-07-25 | 2024-08-20 | 徐州标特福数控科技有限公司 | Intelligent control system for laser cutting |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Fan et al. | A realtime curvature-smooth interpolation scheme and motion planning for CNC machining of short line segments | |
| CN117381179A (en) | Processing track fairing method, device, processing equipment and readable storage medium | |
| WO2019119268A1 (en) | Numerical control system, apparatus with storage function, and nurbs curve interpolation method | |
| JP5926358B1 (en) | Tool path curving method and curving device for ensuring shape error | |
| CN113433889B (en) | Tool path planning method for five-axis machine tool machining based on three-section type claw curve | |
| CN113467384B (en) | Corner transition method applied to five-axis numerical control machine tool | |
| CN113985817B (en) | Robot small line segment track local fairing method and system capable of performing online interpolation | |
| US11474493B2 (en) | Numerical controller, machining route setting method, and non-transitory computer-readable medium recording a program | |
| Chen et al. | Augmented Taylor's expansion method for B-spline curve interpolation for CNC machine tools | |
| CN108073138A (en) | Suitable for the elliptic arc smooth compression interpolation algorithm of high speed and high precision processing | |
| JP6242539B1 (en) | Numerical controller | |
| Han et al. | A local smoothing interpolation method for short line segments to realize continuous motion of tool axis acceleration | |
| CN114115112B (en) | Numerical control machining method and device | |
| CN116380043A (en) | Method, device, equipment and medium for determining lane change center line and drawing high-precision map | |
| CN116689983A (en) | Corner joint speed processing method, device, processing equipment and readable storage medium | |
| CN114755975A (en) | Method, apparatus and storage medium for controlling trajectory error generated by velocity filtering | |
| CN115808900A (en) | Tool motion data processing method and device, machining equipment and storage medium | |
| Farouki et al. | A real-time CNC interpolator algorithm for trimming and filling planar offset curves | |
| CN117359090A (en) | Processing track corner fairing method, device, processing equipment and readable storage medium | |
| CN112051803B (en) | Small line segment fairing method based on space plane normal vector | |
| CN112238032A (en) | Gluing path generation method, device and system and computer-readable storage medium | |
| CN111192216B (en) | Lane line smoothing method and system | |
| CN114488941A (en) | Trace fairing method and medium for micro line segments and machine tool numerical control equipment | |
| CN112327758A (en) | Small-line-segment tool path local fairing method based on B spline fitting and segmented interpolation | |
| CN113985816B (en) | Cutter shaft speed interpolation method for nonlinear path and numerical control machining equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |