CN111539074B - Workpiece processing data processing method and device - Google Patents
Workpiece processing data processing method and device Download PDFInfo
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- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
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Abstract
The embodiment of the invention provides a workpiece processing data processing method and device, wherein the method is applied to a numerical control processing system, and comprises the following steps: clamping a workpiece to be processed in a machine tool; determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under the machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; and processing the workpiece clamped in the machine tool according to the second processing data. The method can be used for conveniently correcting the processing data of the workpiece with any shape, and the correction accuracy is high.
Description
Technical Field
The invention relates to the technical field of numerical control machining, in particular to a workpiece machining data processing method and device.
Background
Along with the development of modern manufacturing technology and computer technology, intelligent numerical control machining has achieved a great deal of development, and the main types report the types of numerical control lathes, numerical control milling machines, numerical control drilling machines and the like, and numerical control machining is an effective way for solving the problems of variable types of parts, complex shapes, high precision requirements and the like and high-new automatic machining. In order to improve the precision of data processing as much as possible, the precision prompt can be mainly provided for controlling the directions mechanically and automatically, however, the numerical control processing is always performed around how to process the workpiece, so how to ensure the clamping precision of the workpiece to be processed is the basis for ensuring other precision lifting modes.
The common workpiece processing data correction methods in the numerical control processing process mainly comprise dead positioning, knife bar positioning, special fixture positioning and line drawing positioning methods, however, the methods are complex in operation and low in precision when correcting the processing data of some workpieces with complex shapes.
Disclosure of Invention
The present invention has been made in view of the above-mentioned conventional problems, and has been made to provide a workpiece processing data processing method and apparatus that overcomes or at least partially solves the above-mentioned problems.
According to an aspect of the present invention, there is provided a workpiece processing data processing method applied to a numerical control processing system, wherein the method includes:
clamping a workpiece to be processed in a machine tool;
determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece;
scanning a workpiece to obtain N first point cloud data sets, wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1;
placing the three-dimensional model of the workpiece under the machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model;
determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data;
performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data;
and processing the workpiece clamped in the machine tool according to the second processing data.
Preferably, the step of scanning the workpiece to obtain N first point cloud data sets includes:
when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module, a square positioning block is arranged on the workpiece; determining a positioning block coordinate system based on the position relation between the vertex and the edge of the square positioning block;
and scanning the surface of the workpiece, converting cloud point data obtained by scanning into the positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data.
Preferably, the step of scanning the workpiece to obtain N first point cloud data sets includes:
when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module, a plurality of square positioning blocks are arranged on the workpiece according to a preset rule;
for each square positioning block, determining a positioning block coordinate system corresponding to the square positioning block based on the position relation of any vertex of the square positioning block and three sides connected with the vertex; scanning the surface of the workpiece, converting the scanned point cloud data into the positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data;
and storing the first point cloud data corresponding to each square positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system corresponding to each square positioning block.
Preferably, the step of determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data sets includes:
for each first point cloud data set, transforming the position of first point cloud data contained in the first point cloud data set to the position of a machine tool coordinate system based on the position relation between a positioning block coordinate system contained in the first point cloud data set and the machine tool coordinate system to obtain third point cloud data;
merging the third point cloud data; merging the second point cloud data;
and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
Preferably, the step of performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data includes:
calculating the product of the first processing data and the position transformation matrix;
the product is determined as second process data.
According to another aspect of the present invention, there is provided a workpiece processing data processing apparatus, which is applied to a numerical control processing system, wherein the apparatus includes: the fixing module is used for clamping a workpiece to be processed in the machine tool; a first determining module for determining a three-dimensional model of the workpiece, a machine tool coordinate system, and first machining data of the workpiece; the scanning module is used for scanning the workpiece to obtain N first point cloud data sets, wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1; the discrete module is used for placing the three-dimensional model of the workpiece under the machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model; the transformation matrix determining module is used for determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; the second determining module is used for carrying out data transformation on the first processing data according to the position transformation matrix to obtain second processing data; and the operation module is used for processing the workpiece clamped in the machine tool according to the second processing data.
Preferably, the scanning module includes:
the first sub-module is used for setting a square positioning block on the workpiece when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module; the second sub-module is used for determining a positioning block coordinate system based on the position relation between the vertex and the edge of the square positioning block;
and the third sub-module is used for scanning the surface of the workpiece, converting the point cloud data obtained by scanning into the positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
Preferably, the scanning module includes:
the fourth sub-module is used for setting a plurality of square positioning blocks on the workpiece according to a preset rule when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module;
a fifth submodule, configured to determine, for each square positioning block, a positioning block coordinate system corresponding to the square positioning block based on a positional relationship between any vertex of the square positioning block and three sides connected to the vertex; scanning the surface of the workpiece, converting cloud point data obtained by scanning into the positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data;
and the sixth submodule is used for storing the first point cloud data corresponding to each square positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system corresponding to each square positioning block.
Preferably, the transformation matrix determining module includes:
the transformation submodule is used for transforming the first point cloud data positions contained in the first point cloud data sets to the position of the machine tool coordinate system based on the position relation between the positioning block coordinate system contained in the first point cloud data sets and the machine tool coordinate system to obtain third point cloud data;
the registration sub-module is used for merging the third point cloud data; merging the second point cloud data; and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
Preferably, the second determining module includes:
a calculation sub-module for calculating a product of the first processing data and the position transformation matrix;
a determination sub-module for determining the product as second machining data.
According to still another aspect of the present invention, there is provided a computer apparatus including: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes any workpiece processing data processing method according to the embodiment of the invention when executing the program.
According to still another aspect of the present invention, there is provided a storage unit having stored thereon a computer program that is executed by a processor to perform any one of the workpiece processing data processing methods as described in the embodiments of the present invention.
According to the workpiece processing data processing scheme provided by the embodiment of the invention, the workpiece to be processed is clamped in a machine tool; determining a three-dimensional model of the workpiece, a machine tool coordinate system and first processing path data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; according to the second processing data, the workpiece clamped in the machine tool is processed, the processing data of the workpiece with any shape can be conveniently corrected, and the correction accuracy is high.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a flow chart of steps of a method for processing data of a workpiece according to a first embodiment of the invention;
FIG. 2 is a schematic view of a workpiece clamping position;
FIG. 3 is a flow chart showing the steps of a method for processing data of a workpiece according to a second embodiment of the invention;
FIG. 4 is a schematic diagram of workpiece scan data;
FIG. 5 is a schematic view of three-dimensional model discrete data;
FIG. 6 is a schematic diagram of registered three-dimensional model discrete data and workpiece scan data;
FIG. 7 is a block diagram showing a construction of a workpiece processing data processing apparatus according to a third embodiment of the invention;
FIG. 8 schematically illustrates a block diagram of a computing device for performing the workpiece processing data processing method of the present invention; and
fig. 9 schematically illustrates a computer readable storage unit for holding or carrying program code for implementing a workpiece processing data processing method according to the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example 1
Referring to fig. 1, a flowchart of steps in a method for processing workpiece processing data according to a first embodiment of the present invention is shown.
The workpiece processing data processing method in the embodiment of the invention comprises the following steps:
step 101: and clamping the workpiece to be processed in a machine tool.
The processing data processing method provided by the embodiment of the invention is applied to a numerical control processing system, and the purpose of improving the processing precision of the workpiece is achieved by correcting the processing data of the workpiece to be processed clamped on the machine tool. The machine tool may be a numerically controlled machine tool. A schematic view of the workpiece clamping position is shown in fig. 2.
The workpiece to be processed can be any workpiece with proper shape, and the workpiece can be in a regular shape or an irregular shape.
Step 102: a three-dimensional model of the workpiece, a machine tool coordinate system, and first machining data of the workpiece are determined.
The machine coordinate system can be arranged at any proper position of the machine, and the selection principle of the setting position of the machine coordinate system is that the position of the workpiece under the machine coordinate system is convenient to determine. The machine tool coordinate system is a three-dimensional coordinate system.
An exemplary machine coordinate system is shown in fig. 2, the machine coordinate system may be disposed at the upper left corner of the machine, the long and wide sides of the machine are respectively the X axis and the Y axis of the machine coordinate system, and the direction perpendicular to the plane formed by the X axis and the Y axis is the Z axis.
After determining the three-dimensional model of the workpiece, the first machining path data, which is the workpiece machining path data for the three-dimensional model of the workpiece in the machine tool coordinate system, may be obtained using commercial CAM (computer Aided Manufacturing ) software.
Step 103: and scanning the workpiece to obtain N first point cloud data sets.
Wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and a machine tool coordinate system; n is an integer greater than or equal to 1.
The size and shape complexity of the workpiece determine the value of N. The larger the workpiece, the more complex the shape, the larger the value of N.
Step 104: and placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data.
The target surface is each surface corresponding to the surface to be processed of the workpiece in the three-dimensional model.
The discrete second point cloud data and the first point cloud data scanned from the workpiece correspond to the same location or close locations in the workpiece.
Step 105: and determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data.
Because the first point cloud data of the scanned workpiece is obtained under the locating block coordinate system, when the position transformation matrix is determined, the first point cloud data obtained by scanning the workpiece is firstly required to be converted into the machine tool coordinate system, and then the position error of the converted point cloud data and the second point cloud data is determined.
Step 106: and carrying out data transformation on the first processing data according to the position transformation matrix to obtain second processing data.
Step 107: and processing the workpiece clamped in the machine tool according to the second processing data.
And processing the workpiece according to the corrected second processing data, so that the problem of clamping errors in the clamping process can be solved.
According to the workpiece processing data processing method provided by the embodiment of the invention, the workpiece to be processed is clamped in a machine tool; determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; according to the second processing data, the workpiece clamped in the machine tool is processed, the processing data of the workpiece with any shape can be conveniently corrected, and the correction accuracy is high.
Example two
Referring to fig. 3, a flowchart of the steps of a method for processing workpiece processing data according to a second embodiment of the invention is shown.
The workpiece processing data processing method of the embodiment of the invention specifically comprises the following steps:
step 201: and clamping the workpiece to be processed in a machine tool.
The machine tool can be a numerical control machine tool, and the workpiece is required to be roughly positioned and clamped on the machine tool before being processed. After the final machining data is determined, the workpiece is machined according to the determined machining data.
Step 202: a three-dimensional model of the workpiece, a machine tool coordinate system, and first machining data of the workpiece are determined.
The first processing data is data before correction, and a specific manner of determining the machine coordinate system and the first processing data of the workpiece is just referred to the related description in the first embodiment, which is not repeated in the embodiment of the present invention.
Step 203: and scanning the workpiece to obtain N first point cloud data sets.
Wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and a machine tool coordinate system; n is an integer greater than or equal to 1. The schematic diagram of the workpiece scanning data is shown in fig. 4, and after the workpiece is scanned, cloud point data obtained by scanning is converted into a positioning block coordinate system, so that N first cloud point data can be obtained. As shown in fig. 4, when a workpiece is scanned, a scanning positioning block, that is, a cube positioning block described below, is set, a positioning block coordinate system of the positioning block is determined, and after the workpiece is scanned, first point cloud data in the positioning block coordinate system, that is, workpiece scanning data shown in fig. 4, is output. Fig. 4 is a diagram showing workpiece scan data as a single first point cloud data.
In the specific implementation process, the workpiece can be scanned through the scanner, first point cloud data of the workpiece are obtained, and the scanning method can be determined according to the size of the workpiece during specific scanning. When the workpiece to be processed is smaller, the workpiece is in a scanning range of the scanner, so that the upper surface and the periphery of the workpiece can be scanned to obtain first point cloud data D, a square positioning block can be arranged at the workpiece during scanning, a vertex of the square positioning block is used as an origin of a coordinate system, an X axis, a Y axis and a Z axis of the coordinate system are respectively used as three sides connected with the vertex to form a positioning block coordinate system, and the first point cloud data under the positioning block coordinate system can be output during outputting and the relation M between the positioning block coordinate system and a machine tool coordinate system is recorded. When the workpiece to be processed is bigger, the workpiece is not in a scanning range of the scanner, and a plurality of special positions of the workpiece can be selected to be scanned respectively at the momentFirst point cloud data D 1 ～D n Setting a cube positioning block at each special position of the workpiece during scanning, outputting first point cloud data under each positioning block coordinate system during outputting, and recording the relation M between each positioning block coordinate system and the machine tool coordinate system 1 ～M n 。
Optionally scanning the workpiece to obtain N first point cloud data sets;
when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module, a square positioning block is arranged on the workpiece; determining a positioning block coordinate system based on the position relation of any vertex of the square positioning block and three sides connected with the vertex; and scanning the surface of the workpiece, converting cloud point data obtained by scanning into a positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data.
When the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module, a plurality of square positioning blocks are arranged on the workpiece according to a preset rule; for each square positioning block, determining a positioning block coordinate system corresponding to the square positioning block based on the position relation of any vertex of the square positioning block and three sides connected with the vertex; scanning the surface of the workpiece, converting the point cloud data obtained by scanning into a positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data; and storing the first point cloud data corresponding to each square positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system corresponding to each square positioning block.
Step 204: and placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data.
The target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model. The discrete data schematic diagram of the three-dimensional model of the workpiece is shown in fig. 5, the discrete data schematic diagram contains N second point cloud data after being dispersed, the second point cloud data are data under a machine tool coordinate system, and the discrete data shown in fig. 5 are single second point cloud data.
To be processed into workThe three-dimensional model of the workpiece is placed under a machine tool coordinate system, the corresponding surface in the workpiece to be processed is selected in the three-dimensional model according to the scanning position of the workpiece when the workpiece is scanned, and then the selected corresponding surface is discretized into second point cloud data D dis The second point cloud data obtained in a discrete mode and the first point cloud data obtained by scanning the workpiece belong to the same position as far as possible, and the number of the second point cloud data is as consistent as possible with the number of the first point cloud data obtained by scanning the workpiece to be processed by the scanner.
Step 205: and determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data.
Because the output scanned workpiece point cloud data is in the locating block coordinate system, the scanned workpiece point cloud needs to be converted into the machine tool coordinate system. When only one first point cloud data exists for a workpiece to be processed, the positioning block coordinate system and the machine tool coordinate system M can be directly used for transforming the first point cloud data into the machine tool coordinate system to obtain third point cloud data D new ＝M*D。
When a plurality of first point cloud data are provided for a workpiece to be processed, a positioning block coordinate system and a machine tool coordinate system M are required to be respectively used 1 ～M n Performing position transformation to obtain third point cloud data D corresponding to each first point cloud data under a machine tool coordinate system (new1～newn) ＝M (1～n) *D (1～n) Then combining a plurality of third point clouds obtained after position transformation into one point cloud data D merge . Dispersing the three-dimensional model under the machine tool coordinate system to obtain second point cloud data D dis And third point cloud data D after position conversion new Or the merged point cloud data D merge The position can find that the two have position errors, the position errors are clamping errors generated in the actual clamping process of the workpiece to be processed, and in order to obtain the position errors, the position errors and the clamping errors are subjected to position registration and a position error transformation matrix is obtained. And carrying out position registration on the second point cloud data obtained by dispersing the three-dimensional model and the third point cloud data obtained by scanning transformation of the workpiece to be processed to obtain a position transformation matrix N of the second point cloud data and the third point cloud data. A schematic diagram of the registered three-dimensional model discrete data and the workpiece scanning data is shown in fig. 6.
Optionally, according to the N first point cloud data sets and the N second point cloud data, a manner of determining the position transformation matrix is as follows:
for each first point cloud data set, based on the position relation between a locating block coordinate system and a machine tool coordinate system contained in the first point cloud data set, converting the position of the first point cloud data contained in the first point cloud data set to the position of the machine tool coordinate system to obtain third point cloud data; merging the third point cloud data; merging the second point cloud data; and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
The specific manner of performing the position registration on the combined third point cloud data and the combined second point cloud data to obtain the position transformation matrix is just to refer to the existing registration method, such as the registration method described in the application number 201910005488.X entitled "registration method and System of three-dimensional model and point cloud", which is not repeated in the embodiment of the present invention.
Step 206: a product of the first process data and the position transformation matrix is calculated.
Assume that: n represents a position transformation matrix, data represents first processing Data, and Data new Representing the second processed Data, transforming the first processed Data by the position transformation matrix N to obtain the second processed Data which can be represented as Data new ＝N*Data。
Step 207: the product is determined as the second process data.
Step 208: and processing the workpiece clamped in the machine tool according to the second processing data.
And processing the workpiece according to the processed second processing data, so that the problem of clamping errors in the clamping process can be solved. The second machining data is corrected machining data.
According to the workpiece processing data processing method provided by the embodiment of the invention, the workpiece to be processed is clamped in a machine tool; determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; according to the second processing data, the workpiece clamped in the machine tool is processed, the processing data of the workpiece with any shape can be conveniently corrected, and the correction accuracy is high.
Example III
Referring to fig. 7, a block diagram of a workpiece processing data processing apparatus according to a third embodiment of the present invention is shown.
The workpiece processing data processing device provided by the embodiment of the invention is applied to a numerical control processing system, wherein the device comprises: the fixing module 301 is used for clamping a workpiece to be processed in a machine tool; a first determining module 302, configured to determine a three-dimensional model of the workpiece, a machine coordinate system, and first machining data of the workpiece; the scanning module 303 is configured to scan a workpiece to obtain N first point cloud data sets, where each point cloud data set includes: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1; a discretization module 304, configured to place the three-dimensional model of the workpiece under the machine coordinate system, and discretize each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model; a transformation matrix determining module 305, configured to determine a position transformation matrix according to the N first point cloud data sets and the N second point cloud data sets; a second determining module 306, configured to perform data transformation on the first processing data according to the position transformation matrix to obtain second processing data; and an operation module 307, configured to process the workpiece clamped in the machine tool according to the second processing data.
Preferably, the scanning module includes:
the first sub-module is used for setting a square positioning block on the workpiece when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module; the second sub-module is used for determining a positioning block coordinate system based on the position relation between the vertex and the edge of the square positioning block;
and the third sub-module is used for scanning the surface of the workpiece, converting the point cloud data obtained by scanning into the positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
Preferably, the scanning module includes:
the fourth sub-module is used for setting a plurality of square positioning blocks on the workpiece according to a preset rule when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module;
a fifth submodule, configured to determine, for each square positioning block, a positioning block coordinate system corresponding to the square positioning block based on a positional relationship between any vertex of the square positioning block and three sides connected to the vertex; scanning the surface of the workpiece, converting cloud point data obtained by scanning into the positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data;
and the sixth submodule is used for storing the first point cloud data corresponding to each square positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system corresponding to each square positioning block.
Preferably, the transformation matrix determining module includes:
the transformation submodule is used for transforming the first point cloud data positions contained in the first point cloud data sets to the position of the machine tool coordinate system based on the position relation between the positioning block coordinate system contained in the first point cloud data sets and the machine tool coordinate system to obtain third point cloud data;
the registration sub-module is used for merging the third point cloud data; merging the second point cloud data; and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
Preferably, the second determining module includes:
a calculation sub-module for calculating a product of the first processing data and the position transformation matrix;
a determination sub-module for determining the product as second machining data.
The workpiece processing data processing device provided by the embodiment of the invention can realize each process in the workpiece processing data processing method shown in the method embodiments of fig. 1 to 6, and in order to avoid repetition, the description is omitted here.
The workpiece processing data processing device provided by the embodiment of the invention is characterized in that a workpiece to be processed is clamped in a machine tool; determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece; scanning the workpiece to obtain N first point cloud data sets; placing the three-dimensional model of the workpiece under a machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data; performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data; according to the second processing data, the workpiece clamped in the machine tool is processed, the processing data of the workpiece with any shape can be conveniently corrected, and the correction accuracy is high.
The software modules in the embodiment of the present invention have the same functions as the corresponding software modules in the foregoing system embodiment, and specific operation descriptions executable by the software modules are referred to the related descriptions in the first embodiment and the second embodiment, and are not repeated herein.
A workpiece processing data processing method and apparatus is provided herein that is not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a system constructed with aspects of the present invention will be apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in a process data processing scheme according to embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
For example, FIG. 8 illustrates a computing device in which the workpiece processing data processing method of the present invention may be implemented. The computing device conventionally includes a processor 1010 and a computer program product in the form of a memory 1020 or a computer-readable medium. The memory 1020 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Memory 1020 has a storage space 1030 storing program code 1031 for performing any of the method steps described above. For example, the storage space 1030 storing the program code may store respective program codes 1031 for implementing the respective steps in the above method, respectively. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a portable or fixed storage unit as shown for example in fig. 9. The storage unit may have memory segments, memory spaces, etc. arranged similarly to memory 1020 in the computing device of fig. 8. The program code may be compressed in a suitable form. In general, the storage unit includes computer readable code 1031', i.e., code that can be read by a processor such as 1010, which when executed by a computing device, causes the computing device to perform the steps in the methods described above.
Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Furthermore, it is noted that the word examples "in one embodiment" herein do not necessarily all refer to the same embodiment. In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (8)
1. A method of processing workpiece processing data, the method being applied to a numerical control processing system, the method comprising:
clamping a workpiece to be processed in a machine tool;
determining a three-dimensional model of the workpiece, a machine tool coordinate system and first machining data of the workpiece;
scanning a workpiece to obtain N first point cloud data sets, wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1;
placing the three-dimensional model of the workpiece under the machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model;
determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data;
performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data;
processing the workpiece clamped in the machine tool according to the second processing data;
the step of performing data transformation on the first processing data according to the position transformation matrix to obtain second processing data comprises the following steps:
calculating the product of the first processing data and the position transformation matrix;
the product is determined as second process data.
2. The method of claim 1, wherein the step of scanning the workpiece to obtain N first point cloud data sets comprises:
when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module, a square positioning block is arranged on the workpiece; determining a positioning block coordinate system based on the position relation between the vertex and the edge of the square positioning block;
and scanning the surface of the workpiece, converting cloud point data obtained by scanning into the positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data.
3. The method of claim 2, wherein the step of scanning the workpiece to obtain N first point cloud data sets comprises:
when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module, a plurality of square positioning blocks are arranged on the workpiece according to a preset rule;
for each square positioning block, determining a positioning block coordinate system corresponding to the square positioning block based on the position relation of any vertex of the square positioning block and three sides connected with the vertex; scanning the surface of the workpiece, converting the scanned point cloud data into the positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data;
and storing the first point cloud data corresponding to each square positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system corresponding to each square positioning block.
4. The method of claim 1, wherein the step of determining a location transformation matrix from the N first point cloud data sets and the N second point cloud data sets comprises:
for each first point cloud data set, transforming the position of first point cloud data contained in the first point cloud data set to the position of a machine tool coordinate system based on the position relation between a positioning block coordinate system contained in the first point cloud data set and the machine tool coordinate system to obtain third point cloud data;
merging the third point cloud data; merging the second point cloud data;
and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
5. A workpiece processing data processing apparatus, the apparatus being applied to a numerical control processing system, the apparatus comprising:
the fixing module is used for clamping a workpiece to be processed in the machine tool;
a first determining module for determining a three-dimensional model of the workpiece, a machine tool coordinate system, and first machining data of the workpiece;
the scanning module is used for scanning the workpiece to obtain N first point cloud data sets, wherein each point cloud data set comprises: first point cloud data under a positioning block coordinate system and the position relation between the positioning block coordinate system and the machine tool coordinate system; n is an integer greater than or equal to 1;
the discrete module is used for placing the three-dimensional model of the workpiece under the machine tool coordinate system, and dispersing each target surface in the three-dimensional model into N pieces of second point cloud data corresponding to the first point cloud data; the target surface is each surface corresponding to the workpiece scanning area in the three-dimensional model;
the transformation matrix determining module is used for determining a position transformation matrix according to the N first point cloud data sets and the N second point cloud data;
the second determining module is used for carrying out data transformation on the first processing data according to the position transformation matrix to obtain second processing data;
the operation module is used for processing the workpiece clamped in the machine tool according to the second processing data;
the second determining module includes:
a calculation sub-module for calculating a product of the first processing data and the position transformation matrix;
a determination sub-module for determining the product as second machining data.
6. The apparatus of claim 5, wherein the scanning module comprises:
the first sub-module is used for setting a square positioning block on the workpiece when the area of the cross section of the workpiece is smaller than or equal to the maximum scanning range of the scanning module; the second sub-module is used for determining a positioning block coordinate system based on the position relation between the vertex and the edge of the square positioning block;
and the third sub-module is used for scanning the surface of the workpiece, converting the point cloud data obtained by scanning into the positioning block coordinate system to obtain first point cloud data and outputting the first point cloud data.
7. The apparatus of claim 6, wherein the scanning module comprises:
the fourth sub-module is used for setting a plurality of square positioning blocks on the workpiece according to a preset rule when the area of the cross section of the workpiece is larger than the maximum scanning range of the scanning module;
a fifth submodule, configured to determine, for each square positioning block, a positioning block coordinate system corresponding to the square positioning block based on a positional relationship between any vertex of the square positioning block and three sides connected to the vertex; scanning the surface of the workpiece, converting cloud point data obtained by scanning into the positioning block coordinate system to obtain first point cloud data, and outputting the first point cloud data;
and the sixth submodule is used for storing the first point cloud data corresponding to each square positioning block and the position relation between the positioning block coordinate system and the machine tool coordinate system corresponding to each square positioning block.
8. The apparatus of claim 5, wherein the transformation matrix determination module comprises:
the transformation submodule is used for transforming the positions of the first point cloud data contained in the first point cloud data sets to the position of the machine tool coordinate system based on the position relation between the positioning block coordinate system contained in the first point cloud data sets and the machine tool coordinate system to obtain third point cloud data;
the registration sub-module is used for merging the third point cloud data; merging the second point cloud data; and carrying out position registration on the combined third point cloud data and the combined second point cloud data to obtain a position transformation matrix.
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| CN112879401A (en) * | 2020-12-30 | 2021-06-01 | 富泰华精密电子(成都)有限公司 | Workpiece machining method |
| CN113110297B (en) * | 2021-03-31 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Method for preventing origin from being used wrongly in numerical control machining process |
| CN114355840A (en) * | 2021-12-20 | 2022-04-15 | 深圳泰德激光技术股份有限公司 | Multi-axis machine tool correction method, device, terminal and computer readable storage medium |
| CN117011503B (en) * | 2023-08-07 | 2024-05-28 | 青岛星美装饰服务有限公司 | Processing data determining method, device, equipment and readable storage medium |
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