WO2023024264A1 - Trajectory filtering method and apparatus based on numerical control machining system, and electronic device - Google Patents

Trajectory filtering method and apparatus based on numerical control machining system, and electronic device Download PDF

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WO2023024264A1
WO2023024264A1 PCT/CN2021/128420 CN2021128420W WO2023024264A1 WO 2023024264 A1 WO2023024264 A1 WO 2023024264A1 CN 2021128420 W CN2021128420 W CN 2021128420W WO 2023024264 A1 WO2023024264 A1 WO 2023024264A1
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error value
trajectory
curve
filtering
processed
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PCT/CN2021/128420
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French (fr)
Chinese (zh)
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贺跃帮
王瑞超
冯均鹏
林铭杰
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五邑大学
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4086—Coordinate conversions; Other special calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35356—Data handling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • the invention relates to the technical field of numerical control machining, in particular to a trajectory filtering method, device, electronic equipment and computer-readable storage medium based on a numerical control machining system.
  • the curve fitting method mainly uses the forward-looking technology.
  • the complex calculation is used to fit the spline and then the trajectory planning is carried out.
  • Trajectory filtering is a smoothing technology after trajectory planning. This technology uses filtering methods such as mean filtering and Gaussian filtering to filter the planned trajectory, so as to achieve the purpose of smoothing the trajectory.
  • filtering methods such as mean filtering and Gaussian filtering to filter the planned trajectory, so as to achieve the purpose of smoothing the trajectory.
  • the error is easy to be too large and exceed the error tolerance range.
  • the present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, the present invention proposes a trajectory filtering method, device, electronic equipment and computer-readable storage medium based on a numerical control machining system, which can reduce machining errors and optimize the machining effect of trajectory filtering.
  • the embodiment of the present invention provides a trajectory filtering method based on a numerical control machining system, including:
  • the number of the first error value is multiple, and performing the second filtering process on the first error value to obtain the second error value includes:
  • the filtered first error value is used as the second error value.
  • the first filtering process is implemented by the following formula:
  • the P m represents the m-th data of the first trajectory curve
  • the w i represents the i-th first weight coefficient
  • the n represents the first filter parameter
  • the P r,i represents the first The i-th data of the track curve.
  • the first error value is obtained by the following formula:
  • the e m represents the m-th first error value
  • the P r,m represents the m-th data of the first trajectory curve
  • the P m represents the m-th data of the first trajectory curve
  • the second error value is obtained by the following formula:
  • said f m represents the mth second error value
  • em represents the mth first error value
  • the recompensation process is implemented by the following formula:
  • the represents the mth data of the second trajectory curve
  • the P m represents the mth data of the first trajectory curve
  • the f m represents the mth second error value
  • an embodiment of the present invention provides a trajectory filtering device based on a numerical control machining system, including: a data acquisition unit for acquiring a curve to be processed; a first filtering unit for performing a first step on the curve to be processed filter processing to obtain the first trajectory curve and the first error value; the second filter unit is used to perform the second filter processing on the first error value to obtain the second error value; the recompensation unit is used to obtain the second error value according to the first error value The second error value performs recompensation processing on the first trajectory curve to obtain a second trajectory curve corresponding to the curve to be processed.
  • the number of the first error values is multiple, and the second filtering unit is further configured to filter out frequencies lower than a preset frequency among the multiple first error values. the first error value, and use the filtered first error value as the second error value.
  • an embodiment of the present invention provides an electronic device, the electronic device includes a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the When the computer program is described, the trajectory filtering method based on the numerical control machining system described in any one embodiment of the first aspect is realized.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make the computer perform any one of the above-mentioned first aspects.
  • the trajectory filtering method based on the numerical control machining system described in the embodiment.
  • One or more technical solutions provided in the embodiments of the present application have at least the following beneficial effects: by obtaining the curve to be processed, and then performing the first filtering process on the curve to be processed, the first trajectory curve and the first error value are obtained, and then the second A second filtering process is performed on an error value to obtain a second error value, and then the first trajectory curve is recompensated according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed.
  • machining errors can be reduced, thereby optimizing the machining effect of trajectory filtering.
  • Fig. 1 is the flow chart of the steps of the trajectory filtering method based on the numerical control machining system of an embodiment of the present invention
  • Fig. 2 is the implementation block diagram of the trajectory filtering method based on the numerical control machining system of another embodiment of the present invention
  • Fig. 3 is a flow chart of steps of a trajectory filtering method based on a numerical control machining system according to another embodiment of the present invention.
  • Fig. 4 is a block diagram of a trajectory filtering device based on a numerical control machining system according to an embodiment of the present invention
  • FIG. 5 is a block diagram of an electronic device according to an embodiment of the present invention.
  • the data acquisition unit 100 The data acquisition unit 100 ; the first filtering unit 200 ; the second filtering unit 300 ; the recompensation unit 400 ; the memory 500 ;
  • orientation descriptions such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
  • an embodiment of the present invention provides a trajectory filtering method based on a numerical control machining system.
  • the trajectory filtering method based on the numerical control machining system specifically includes but is not limited to the following steps S100 , S200 , S300 and S400 .
  • Step S100 Obtain the curve to be processed
  • the curve to be processed may be a curve such as an arc, which is not limited in this embodiment.
  • Step S200 performing a first filtering process on the curve to be processed to obtain a first trajectory curve and a first error value
  • the basic shape after the track of the curve to be processed is smoothed, that is, the first trajectory curve, and at the same time, the first filtering process will generate a corresponding first error value.
  • the first filtering process may be mean filtering, Gaussian filtering, etc., which is not limited in this embodiment.
  • Step S300 performing a second filtering process on the first error value to obtain a second error value
  • the second filtering process may also be average filtering, Gaussian filtering, etc., which is not limited in this embodiment.
  • Step S400 Perform recompensation processing on the first trajectory curve according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed.
  • processing error of the first trajectory curve can be reduced by recompensating the first error value after the second filtering process on the first trajectory curve.
  • the curve to be processed is obtained first, and then the first filtering process is performed on the curve to be processed to obtain the first trajectory curve and the first error value, and then the second filtering is performed on the first error value processing to obtain the second error value, and then perform recompensation processing on the first trajectory curve according to the second error value, so as to obtain the second trajectory curve corresponding to the curve to be processed.
  • machining errors can be reduced, thereby optimizing the machining effect of trajectory filtering.
  • step S300 may specifically include but not limited to the following steps S310 and S320.
  • Step S310 among the plurality of first error values, filter out the first error values lower than the preset frequency
  • Step S320 Use the filtered first error value as the second error value.
  • the first error value obtained by the first trajectory curve is subjected to the second filtering process, and then the low-frequency part in the first error value is extracted as the second error value, and then the second error value is used to filter the first error value.
  • a trajectory curve is recompensated to obtain a second trajectory curve.
  • the first filtering process is implemented by the following formula:
  • P m represents the m-th data of the first trajectory curve
  • w i represents the i-th first weight coefficient
  • n represents the first filtering parameter
  • P r,i represents the i-th data of the first trajectory curve
  • the first error value is obtained by the following formula:
  • e m represents the m-th first error value
  • P r,m represents the m-th data of the first trajectory curve
  • P m represents the m-th data of the first trajectory curve
  • the second error value is obtained by the following formula:
  • f m represents the mth second error value
  • em represents the mth first error value
  • the trajectory filtering device based on the numerical control machining system in various embodiments of the second aspect of the present invention is proposed.
  • the trajectory filtering device based on the numerical control machining system includes a data acquisition unit 100 , a first filtering unit 200 , a second filtering unit 300 and a recompensation unit 400 .
  • the data acquisition unit 100 is used to obtain the curve to be processed;
  • the first filter unit 200 is used to perform the first filtering process on the curve to be processed to obtain the first trajectory curve and the first error value;
  • the second filter unit 300 is used to process the first curve
  • An error value is subjected to a second filtering process to obtain a second error value;
  • the recompensation unit 400 is configured to perform recompensation processing on the first trajectory curve according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed.
  • the curve to be processed is first obtained through the data acquisition unit 100, and then the first filtering process is performed on the curve to be processed through the first filtering unit 200 to obtain the first trajectory curve and the first error value, and then through the second
  • the filtering unit 300 performs a second filtering process on the first error value to obtain a second error value
  • the recompensation unit 400 performs recompensation processing on the first trajectory curve according to the second error value to obtain the curve corresponding to the curve to be processed The second trajectory curve.
  • machining errors can be reduced, thereby optimizing the machining effect of trajectory filtering.
  • the second filtering unit 300 is further configured to filter out the first error values lower than the preset frequency among the multiple first error values, and filter out the filtered first error values An error value is used as the second error value.
  • the first error value is subjected to the second filtering process through the second filtering unit 300, and then the low-frequency part in the first error value is extracted as the second error value, and then passed
  • the recompensation unit 400 uses the second error value to perform recompensation processing on the first trajectory curve to obtain the second trajectory curve.
  • the electronic device includes a memory 500, a processor 600, and a computer program stored on the memory 500 and operable on the processor 600; when the computer program is executed by the processor 600, any one of the above-mentioned first aspects can be implemented.
  • the trajectory filtering method based on the CNC machining system described in the example.
  • the electronic device may be a router, switch, server or other data processing and transmission devices.
  • processor 600 and the memory 500 may be connected through a bus or in other ways.
  • non-transitory software programs and instructions required to realize the trajectory filtering method based on the numerical control machining system of the above-mentioned embodiment are stored in the memory 500, and when executed by the processor 600, the above-mentioned embodiment based on The trajectory filtering method of the numerical control machining system, for example, executes method steps S100 to S400 in FIG. 1 and method steps S310 to S320 in FIG. 3 .
  • the electronic device in the embodiment of the third aspect of the present invention executes the trajectory filtering method based on the numerical control machining system in any embodiment of the above-mentioned first aspect, the electronic device in the embodiment of the third aspect of the present invention
  • the electronic device in the embodiment of the third aspect of the present invention For specific implementations and technical effects, reference may be made to the specific implementations and technical effects of the trajectory filtering method based on a numerical control machining system in any embodiment of the first aspect above, and details are not repeated here.
  • a computer-readable storage medium in each embodiment of the fourth aspect of the present invention stores computer-executable instructions, and the computer-executable
  • the instruction is executed by a processor 600 or a controller, for example, by a processor 600 in the above-mentioned electronic device embodiment, which can make the above-mentioned processor 600 execute the trajectory filtering method based on the numerical control machining system in the above-mentioned embodiment, for example, Execute the method steps S100 to S400 in FIG. 1 and the method steps S310 to S320 in FIG. 3 .
  • a processor 600 such as a central processing unit 600, a digital signal processor 600, or a microprocessor 600, or as hardware, or as an integrated circuit, Such as application specific integrated circuits.
  • Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media).
  • computer storage media includes both volatile and nonvolatile media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules, or other data.
  • Computer storage media including, but not limited to, RAM, ROM, EEPROM, flash memory or other memory 500 technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridges, tape, magnetic disk storage or other magnetic storage devices, or Any other medium that can be used to store desired information and that can be accessed by a computer.
  • communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .
  • communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .

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Abstract

A trajectory filtering method and apparatus based on a numerical control machining system and an electronic device, the trajectory filtering method based on a numerical control machining system comprising: acquiring a curve to be processed (S100); performing first filtering on the curve to be processed to obtain a first trajectory curve and a first error value (S200); performing second filtering on the first error value to obtain a second error value (S300); and performing re-compensation on the first trajectory curve according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed (S400). According to the method, processing errors may be reduced, thereby optimizing the machining effect of trajectory filtering.

Description

基于数控加工***的轨迹滤波方法、装置和电子设备Trajectory filtering method, device and electronic equipment based on numerical control machining system 技术领域technical field
本发明涉及数控加工技术领域，特别涉及一种基于数控加工***的轨迹滤波方法、装置、电子设备和计算机可读存储介质。The invention relates to the technical field of numerical control machining, in particular to a trajectory filtering method, device, electronic equipment and computer-readable storage medium based on a numerical control machining system.
背景技术Background technique
目前，在数控领域中，针对轨迹平滑的问题，主要有两种策略，分别为曲线拟合和轨迹滤波。其中，曲线拟合法主要利用前瞻技术，在预处理阶段通过复杂运算拟合成样条后再进行轨迹规划，但该类方法对不能拟合成样条的线段之间，或样条之间衔接点处存在加速度不连续问题。而轨迹滤波是一种轨迹规划后的平滑技术，该技术利用均值滤波、高斯滤波等滤波方法对规划后的轨迹进行滤波，从而达到平滑轨迹的目的。但是，现有的滤波方法中存在误差不可控的问题，特别是圆弧加工时，容易发生误差过大而超出误差容许范围的问题。At present, in the field of numerical control, there are mainly two strategies for trajectory smoothing, namely curve fitting and trajectory filtering. Among them, the curve fitting method mainly uses the forward-looking technology. In the preprocessing stage, the complex calculation is used to fit the spline and then the trajectory planning is carried out. There is an acceleration discontinuity problem at the point. Trajectory filtering is a smoothing technology after trajectory planning. This technology uses filtering methods such as mean filtering and Gaussian filtering to filter the planned trajectory, so as to achieve the purpose of smoothing the trajectory. However, there is a problem of uncontrollable error in the existing filtering method, especially in arc machining, the error is easy to be too large and exceed the error tolerance range.
发明内容Contents of the invention
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提出一种基于数控加工***的轨迹滤波方法、装置、电子设备和计算机可读存储介质，能够减少加工误差，从而优化轨迹滤波的加工效果。The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, the present invention proposes a trajectory filtering method, device, electronic equipment and computer-readable storage medium based on a numerical control machining system, which can reduce machining errors and optimize the machining effect of trajectory filtering.
第一方面，本发明实施例提供了一种基于数控加工***的轨迹滤波方法,包括：In the first aspect, the embodiment of the present invention provides a trajectory filtering method based on a numerical control machining system, including:
获取待处理曲线；Get the curve to be processed;
对所述待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值；performing a first filtering process on the curve to be processed to obtain a first trajectory curve and a first error value;
对所述第一误差值进行第二滤波处理，得到第二误差值；performing a second filtering process on the first error value to obtain a second error value;
根据所述第二误差值对所述第一轨迹曲线进行再补偿处理，得到与所述待处理曲线对应的第二轨迹曲线。Perform recompensation processing on the first trajectory curve according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed.
根据本发明第一方面的一些实施例，所述第一误差值的数量为多个，所述对所述第一误差值进行第二滤波处理，得到第二误差值，包括：According to some embodiments of the first aspect of the present invention, the number of the first error value is multiple, and performing the second filtering process on the first error value to obtain the second error value includes:
在多个所述第一误差值中，过滤出低于预设频率的所述第一误差值；Among the plurality of first error values, filtering out the first error values lower than a preset frequency;
将过滤后的所述第一误差值作为第二误差值。The filtered first error value is used as the second error value.
根据本发明第一方面的一些实施例，所述第一滤波处理由如下公式实现：According to some embodiments of the first aspect of the present invention, the first filtering process is implemented by the following formula:
Figure PCTCN2021128420-appb-000001
Figure PCTCN2021128420-appb-000001
其中，所述P m表示所述第一轨迹曲线的第m个数据，所述w i表示第i个第一权重系数，所述n表示第一滤波参数，所述P r,i表示第一轨迹曲线的第i个数据。 Wherein, the P m represents the m-th data of the first trajectory curve, the w i represents the i-th first weight coefficient, the n represents the first filter parameter, and the P r,i represents the first The i-th data of the track curve.
根据本发明第一方面的一些实施例，所述第一误差值由如下公式获得：According to some embodiments of the first aspect of the present invention, the first error value is obtained by the following formula:
e m＝P r,m-P m e m =P r,m -P m
其中，所述e m表示第m个第一误差值，所述P r,m表示第一轨迹曲线的第m个数据，所述P m表示所述第一轨迹曲线的第m个数据。 Wherein, the e m represents the m-th first error value, the P r,m represents the m-th data of the first trajectory curve, and the P m represents the m-th data of the first trajectory curve.
根据本发明第一方面的一些实施例，所述第二误差值由如下公式获得：According to some embodiments of the first aspect of the present invention, the second error value is obtained by the following formula:
Figure PCTCN2021128420-appb-000002
Figure PCTCN2021128420-appb-000002
其中，所述f m表示第m个第二误差值，所述
Figure PCTCN2021128420-appb-000003
表示第i个第二权重系数，所述
Figure PCTCN2021128420-appb-000004
表示第二滤波参数，所述e m表示第m个第一误差值。 Wherein, said f m represents the mth second error value, said
Figure PCTCN2021128420-appb-000003
Indicates the i-th second weight coefficient, the
Figure PCTCN2021128420-appb-000004
represents the second filtering parameter, and em represents the mth first error value.
根据本发明第一方面的一些实施例，所述再补偿处理由以下公式实现：According to some embodiments of the first aspect of the present invention, the recompensation process is implemented by the following formula:
Figure PCTCN2021128420-appb-000005
Figure PCTCN2021128420-appb-000005
其中，所述
Figure PCTCN2021128420-appb-000006
表示所述第二轨迹曲线的第m个数据，所述P m表示所述第一轨迹曲线的第m个数据，所述f m表示第m个第二误差值。 Among them, the
Figure PCTCN2021128420-appb-000006
represents the mth data of the second trajectory curve, the P m represents the mth data of the first trajectory curve, and the f m represents the mth second error value.
第二方面，本发明实施例提供了一种基于数控加工***的轨迹滤波装置,包括：数据采集单元，用于获取待处理曲线；第一滤波单元，用于对所述待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值；第二滤波单元，用于对所述第一误差值进行第二滤波处理，得到第二误差值；再补偿单元，用于根据所述第二误差值对所述第一轨迹曲线进行再补偿处理，得到与所述待处理曲线对应的第二轨迹曲线。In the second aspect, an embodiment of the present invention provides a trajectory filtering device based on a numerical control machining system, including: a data acquisition unit for acquiring a curve to be processed; a first filtering unit for performing a first step on the curve to be processed filter processing to obtain the first trajectory curve and the first error value; the second filter unit is used to perform the second filter processing on the first error value to obtain the second error value; the recompensation unit is used to obtain the second error value according to the first error value The second error value performs recompensation processing on the first trajectory curve to obtain a second trajectory curve corresponding to the curve to be processed.
根据本发明第二方面的一些实施例，所述第一误差值的数量为多个，所述第二滤波单元 还用于在多个所述第一误差值中，过滤出低于预设频率的所述第一误差值，并将过滤后的所述第一误差值作为第二误差值。According to some embodiments of the second aspect of the present invention, the number of the first error values is multiple, and the second filtering unit is further configured to filter out frequencies lower than a preset frequency among the multiple first error values. the first error value, and use the filtered first error value as the second error value.
第三方面，本发明实施例提供了一种电子设备,所述电子设备包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现第一方面任意一项实施例所述的基于数控加工***的轨迹滤波方法。In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device includes a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the When the computer program is described, the trajectory filtering method based on the numerical control machining system described in any one embodiment of the first aspect is realized.
第四方面，本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上第一方面任意一项实施例所述的基于数控加工***的轨迹滤波方法。In the fourth aspect, the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make the computer perform any one of the above-mentioned first aspects. The trajectory filtering method based on the numerical control machining system described in the embodiment.
本申请实施例中提供的一个或多个技术方案，至少具有如下有益效果：通过获取待处理曲线，然后对待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值，再对第一误差值进行第二滤波处理，得到第二误差值，之后根据第二误差值对第一轨迹曲线进行再补偿处理，即可得到与待处理曲线对应的第二轨迹曲线。根据本发明实施例的技术方案，能够减少加工误差，从而优化轨迹滤波的加工效果。One or more technical solutions provided in the embodiments of the present application have at least the following beneficial effects: by obtaining the curve to be processed, and then performing the first filtering process on the curve to be processed, the first trajectory curve and the first error value are obtained, and then the second A second filtering process is performed on an error value to obtain a second error value, and then the first trajectory curve is recompensated according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed. According to the technical solutions of the embodiments of the present invention, machining errors can be reduced, thereby optimizing the machining effect of trajectory filtering.
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
附图说明Description of drawings
本发明的附加方面和优点结合下面附图对实施例的描述中将变得明显和容易理解，其中：Additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments when taken in conjunction with the following drawings, in which:
图1为本发明的一个实施例的基于数控加工***的轨迹滤波方法的步骤流程图；Fig. 1 is the flow chart of the steps of the trajectory filtering method based on the numerical control machining system of an embodiment of the present invention;
图2为本发明的另一个实施例的基于数控加工***的轨迹滤波方法的实现框图；Fig. 2 is the implementation block diagram of the trajectory filtering method based on the numerical control machining system of another embodiment of the present invention;
图3为本发明的另一个实施例的基于数控加工***的轨迹滤波方法的步骤流程图；Fig. 3 is a flow chart of steps of a trajectory filtering method based on a numerical control machining system according to another embodiment of the present invention;
图4为本发明的一个实施例的基于数控加工***的轨迹滤波装置的模块示意图；Fig. 4 is a block diagram of a trajectory filtering device based on a numerical control machining system according to an embodiment of the present invention;
图5为本发明的一个实施例的电子设备的模块示意图。FIG. 5 is a block diagram of an electronic device according to an embodiment of the present invention.
附图标记：Reference signs:
数据采集单元100；第一滤波单元200；第二滤波单元300；再补偿单元400；存储器500；处理器600。The data acquisition unit 100 ; the first filtering unit 200 ; the second filtering unit 300 ; the recompensation unit 400 ; the memory 500 ;
具体实施方式Detailed ways
下面详细描述本发明的实施例，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
在本发明的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。In the description of the present invention, several means one or more, and multiple means more than two. Greater than, less than, exceeding, etc. are understood as not including the original number, and above, below, within, etc. are understood as including the original number. If the description of the first and second is only for the purpose of distinguishing the technical features, it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features relation.
在本发明的描述中，需要理解的是，涉及到方位描述，例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
在本发明的描述中，如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。In the description of the present invention, if the first and the second are described only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating The sequence of the indicated technical features.
在本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.
在本发明实施例的描述中，参考术语“一个实施例/实施方式”、“另一实施例/实施方式”或“一些实施例/实施方式”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本公开的至少两个实施例或实施方式中，对上述术语的示意性表述不一定指的是相同的示实施例或实施方式。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或实施方式中以合适的方式结合。In the description of the embodiments of the present invention, the description referring to the terms "one embodiment/implementation", "another embodiment/implementation" or "some embodiments/implementation" means that the description is described in conjunction with the embodiment or examples. Specific features, structures, materials or characteristics are included in at least two embodiments or implementations of the present disclosure, and schematic representations of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.
此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
下面结合附图，对本发明实施例作进一步阐述。The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
第一方面，本发明实施例提供了一种基于数控加工***的轨迹滤波方法。In a first aspect, an embodiment of the present invention provides a trajectory filtering method based on a numerical control machining system.
参照图1和图2，基于数控加工***的轨迹滤波方法具体包括但不限于有以下步骤S100、步骤S200、步骤S300和步骤S400。Referring to FIG. 1 and FIG. 2 , the trajectory filtering method based on the numerical control machining system specifically includes but is not limited to the following steps S100 , S200 , S300 and S400 .
步骤S100：获取待处理曲线；Step S100: Obtain the curve to be processed;
需要说明的是，待处理曲线可以为圆弧等曲线，本实施例并不对其做限制。It should be noted that the curve to be processed may be a curve such as an arc, which is not limited in this embodiment.
步骤S200：对待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值；Step S200: performing a first filtering process on the curve to be processed to obtain a first trajectory curve and a first error value;
需要说明的是，对待处理曲线进行第一滤波处理后，能够得到待处理曲线轨迹平滑后的基本形状，即为第一轨迹曲线，同时，第一滤波处理会产生与该第一轨迹曲线对应的第一误差值。It should be noted that after the first filtering process is performed on the curve to be processed, the basic shape after the track of the curve to be processed is smoothed, that is, the first trajectory curve, and at the same time, the first filtering process will generate a corresponding first error value.
需要说明的是，第一滤波处理可以为均值滤波、高斯滤波等，本实施例并不对其做限制。It should be noted that the first filtering process may be mean filtering, Gaussian filtering, etc., which is not limited in this embodiment.
步骤S300：对第一误差值进行第二滤波处理，得到第二误差值；Step S300: performing a second filtering process on the first error value to obtain a second error value;
需要说明的是，第二滤波处理也可以为均值滤波、高斯滤波等，本实施例并不对其做限制。It should be noted that the second filtering process may also be average filtering, Gaussian filtering, etc., which is not limited in this embodiment.
步骤S400：根据第二误差值对第一轨迹曲线进行再补偿处理，得到与待处理曲线对应的第二轨迹曲线。Step S400: Perform recompensation processing on the first trajectory curve according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed.
需要说明的是，将经过第二滤波处理的第一误差值对第一轨迹曲线进行再补偿处理，能够减小第一轨迹曲线的加工误差。It should be noted that the processing error of the first trajectory curve can be reduced by recompensating the first error value after the second filtering process on the first trajectory curve.
可以理解的是，通过上述步骤S100至步骤S400，先获取待处理曲线，然后对待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值，再对第一误差值进行第二滤波处理，得到第二误差值，之后根据第二误差值对第一轨迹曲线进行再补偿处理，即可得到与待处理曲线对应的第二轨迹曲线。根据本发明实施例的技术方案，能够减少加工误差，从而优化轨迹滤波的加工效果。It can be understood that, through the above steps S100 to S400, the curve to be processed is obtained first, and then the first filtering process is performed on the curve to be processed to obtain the first trajectory curve and the first error value, and then the second filtering is performed on the first error value processing to obtain the second error value, and then perform recompensation processing on the first trajectory curve according to the second error value, so as to obtain the second trajectory curve corresponding to the curve to be processed. According to the technical solutions of the embodiments of the present invention, machining errors can be reduced, thereby optimizing the machining effect of trajectory filtering.
参照图3，示例性的，第一误差值的数量为多个，关于上述步骤S300，具体可以包括但不限于以下步骤S310和步骤S320。Referring to FIG. 3 , for example, there are multiple first error values, and the above step S300 may specifically include but not limited to the following steps S310 and S320.
步骤S310：在多个第一误差值中，过滤出低于预设频率的第一误差值；Step S310: among the plurality of first error values, filter out the first error values lower than the preset frequency;
步骤S320：将过滤后的第一误差值作为第二误差值。Step S320: Use the filtered first error value as the second error value.
具体地，针对第一轨迹曲线得到的第一误差值，将第一误差值进行第二滤波处理，然后提取第一误差值中的低频部分为第二误差值，再使用第二误差值对第一轨迹曲线进行再补偿处理得到第二轨迹曲线。Specifically, for the first error value obtained by the first trajectory curve, the first error value is subjected to the second filtering process, and then the low-frequency part in the first error value is extracted as the second error value, and then the second error value is used to filter the first error value. A trajectory curve is recompensated to obtain a second trajectory curve.
示例性的，第一滤波处理由如下公式实现：Exemplarily, the first filtering process is implemented by the following formula:
Figure PCTCN2021128420-appb-000007
Figure PCTCN2021128420-appb-000007
其中，P m表示第一轨迹曲线的第m个数据，w i表示第i个第一权重系数，n表示第一滤波参数，P r,i表示第一轨迹曲线的第i个数据。 Wherein, P m represents the m-th data of the first trajectory curve, w i represents the i-th first weight coefficient, n represents the first filtering parameter, and P r,i represents the i-th data of the first trajectory curve.
具体地，当轨迹数据总量为N，则当i<0时，P r,i＝P r,0；当i>N时，P r,i＝P r,N。 Specifically, when the total amount of track data is N, then when i<0, P r,i =P r,0 ; when i>N, P r,i =P r,N .
示例性的，第一误差值由如下公式获得：Exemplarily, the first error value is obtained by the following formula:
e m＝P r,m-P m e m =P r,m -P m
其中，e m表示第m个第一误差值，P r,m表示第一轨迹曲线的第m个数据，P m表示第一轨迹曲线的第m个数据。 Wherein, e m represents the m-th first error value, P r,m represents the m-th data of the first trajectory curve, and P m represents the m-th data of the first trajectory curve.
示例性的，第二误差值由如下公式获得：Exemplarily, the second error value is obtained by the following formula:
Figure PCTCN2021128420-appb-000008
Figure PCTCN2021128420-appb-000008
其中，f m表示第m个第二误差值，
Figure PCTCN2021128420-appb-000009
表示第i个第二权重系数，
Figure PCTCN2021128420-appb-000010
表示第二滤波参数，e m表示第m个第一误差值。 Among them, f m represents the mth second error value,
Figure PCTCN2021128420-appb-000009
Indicates the i-th second weight coefficient,
Figure PCTCN2021128420-appb-000010
represents the second filtering parameter, and em represents the mth first error value.
需要说明的是，当i<0时，e i＝e 0，当i>N时，e i＝e N。 It should be noted that when i<0, e i =e 0 , and when i>N, e i =e N .
示例性的，再补偿处理由以下公式实现：Exemplarily, the recompensation process is implemented by the following formula:
Figure PCTCN2021128420-appb-000011
Figure PCTCN2021128420-appb-000011
其中，
Figure PCTCN2021128420-appb-000012
表示第二轨迹曲线的第m个数据，P m表示第一轨迹曲线的第m个数据，f m表示第m个第二误差值。 in,
Figure PCTCN2021128420-appb-000012
represents the mth data of the second trajectory curve, P m represents the mth data of the first trajectory curve, and f m represents the mth second error value.
基于上述第一方面实施例的基于数控加工***的轨迹滤波方法，提出本发明第二方面各个实施例的基于数控加工***的轨迹滤波装置。Based on the trajectory filtering method based on the numerical control machining system in the embodiment of the first aspect above, the trajectory filtering device based on the numerical control machining system in various embodiments of the second aspect of the present invention is proposed.
参照图4，基于数控加工***的轨迹滤波装置包括数据采集单元100、第一滤波单元200、第二滤波单元300和再补偿单元400。具体地，数据采集单元100用于获取待处理曲线；第一滤波单元200用于对待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值；第二滤波单元300用于对第一误差值进行第二滤波处理，得到第二误差值；再补偿单元400用于根据第二误差值对第一轨迹曲线进行再补偿处理，得到与待处理曲线对应的第二轨迹曲线。Referring to FIG. 4 , the trajectory filtering device based on the numerical control machining system includes a data acquisition unit 100 , a first filtering unit 200 , a second filtering unit 300 and a recompensation unit 400 . Specifically, the data acquisition unit 100 is used to obtain the curve to be processed; the first filter unit 200 is used to perform the first filtering process on the curve to be processed to obtain the first trajectory curve and the first error value; the second filter unit 300 is used to process the first curve An error value is subjected to a second filtering process to obtain a second error value; the recompensation unit 400 is configured to perform recompensation processing on the first trajectory curve according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed.
可以理解的是，工作时，先通过数据采集单元100获取待处理曲线，然后通过第一滤波单元200对待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值，再通过第二滤波单元300对第一误差值进行第二滤波处理，得到第二误差值，之后通过再补偿单元400根据第二误差值对第一轨迹曲线进行再补偿处理，即可得到与待处理曲线对应的第二轨迹曲线。根据本发明实施例的技术方案，能够减少加工误差，从而优化轨迹滤波的加工效果。It can be understood that, during work, the curve to be processed is first obtained through the data acquisition unit 100, and then the first filtering process is performed on the curve to be processed through the first filtering unit 200 to obtain the first trajectory curve and the first error value, and then through the second The filtering unit 300 performs a second filtering process on the first error value to obtain a second error value, and then the recompensation unit 400 performs recompensation processing on the first trajectory curve according to the second error value to obtain the curve corresponding to the curve to be processed The second trajectory curve. According to the technical solutions of the embodiments of the present invention, machining errors can be reduced, thereby optimizing the machining effect of trajectory filtering.
示例性的，第一误差值的数量为多个，第二滤波单元300还用于在多个第一误差值中，过滤出低于预设频率的第一误差值，并将过滤后的第一误差值作为第二误差值。Exemplarily, there are multiple first error values, and the second filtering unit 300 is further configured to filter out the first error values lower than the preset frequency among the multiple first error values, and filter out the filtered first error values An error value is used as the second error value.
具体地，针对第一轨迹曲线得到的第一误差值，通过第二滤波单元300将第一误差值进行第二滤波处理，然后提取第一误差值中的低频部分为第二误差值，再通过再补偿单元400使用第二误差值对第一轨迹曲线进行再补偿处理得到第二轨迹曲线。Specifically, for the first error value obtained by the first trajectory curve, the first error value is subjected to the second filtering process through the second filtering unit 300, and then the low-frequency part in the first error value is extracted as the second error value, and then passed The recompensation unit 400 uses the second error value to perform recompensation processing on the first trajectory curve to obtain the second trajectory curve.
基于上述第一方面实施例的基于数控加工***的轨迹滤波方法，提出本发明第三方面各个实施例的电子设备。Based on the trajectory filtering method based on the numerical control machining system in the embodiment of the first aspect above, the electronic equipment in various embodiments of the third aspect of the present invention is proposed.
参照图5，该电子设备包括存储器500、处理器600及存储在存储器500上并可在处理器600上运行的计算机程序；计算机程序被处理器600执行时实现如上述第一方面任意一项实施例所描述的基于数控加工***的轨迹滤波方法。Referring to FIG. 5 , the electronic device includes a memory 500, a processor 600, and a computer program stored on the memory 500 and operable on the processor 600; when the computer program is executed by the processor 600, any one of the above-mentioned first aspects can be implemented. The trajectory filtering method based on the CNC machining system described in the example.
需要说明的是，电子设备可以为路由器、交换机、服务器或者其他数据处理传输设备。It should be noted that the electronic device may be a router, switch, server or other data processing and transmission devices.
可以理解的是，处理器600和存储器500可以通过总线或者其他方式连接。It can be understood that the processor 600 and the memory 500 may be connected through a bus or in other ways.
需要说明的是，实现上述实施例的基于数控加工***的轨迹滤波方法所需的非暂态软件程序以及指令存储在该存储器500中，当被处理器600执行时，执行上述实施例中的基于数控加工***的轨迹滤波方法，例如，执行如图1中的方法步骤S100至S400和图3中的方法步骤S310至S320。It should be noted that the non-transitory software programs and instructions required to realize the trajectory filtering method based on the numerical control machining system of the above-mentioned embodiment are stored in the memory 500, and when executed by the processor 600, the above-mentioned embodiment based on The trajectory filtering method of the numerical control machining system, for example, executes method steps S100 to S400 in FIG. 1 and method steps S310 to S320 in FIG. 3 .
可以理解的是，由于本发明第三方面实施例的电子设备执行包括有上述第一方面任一实施例的基于数控加工***的轨迹滤波方法，因此，本发明第三方面实施例的电子设备的具体实施方式和技术效果，可参照上述第一方面任一实施例的基于数控加工***的轨迹滤波方法的具体实施方式和技术效果，在此不做赘述。It can be understood that since the electronic device in the embodiment of the third aspect of the present invention executes the trajectory filtering method based on the numerical control machining system in any embodiment of the above-mentioned first aspect, the electronic device in the embodiment of the third aspect of the present invention For specific implementations and technical effects, reference may be made to the specific implementations and technical effects of the trajectory filtering method based on a numerical control machining system in any embodiment of the first aspect above, and details are not repeated here.
以上所描述的电子设备的实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。The above-described embodiments of the electronic device are only illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
基于上述第一方面实施例的基于数控加工***的轨迹滤波方法，提出本发明第四方面各个实施例的计算机可读存储介质，该计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个处理器600或控制器执行，例如，被上述电子设备实施例中的一个处理器600执行，可使得上述处理器600执行上述实施例中的基于数控加工***的轨迹滤波方法，例如，执行如图1中的方法步骤S100至S400和图3中的方法步骤S310至S320。Based on the trajectory filtering method based on the numerical control machining system in the embodiment of the first aspect above, a computer-readable storage medium in each embodiment of the fourth aspect of the present invention is proposed, the computer-readable storage medium stores computer-executable instructions, and the computer-executable The instruction is executed by a processor 600 or a controller, for example, by a processor 600 in the above-mentioned electronic device embodiment, which can make the above-mentioned processor 600 execute the trajectory filtering method based on the numerical control machining system in the above-mentioned embodiment, for example, Execute the method steps S100 to S400 in FIG. 1 and the method steps S310 to S320 in FIG. 3 .
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、***可以被实施为软件、固件、硬件及其适当的组合。某些物理组件或所有物理组件可以被实施为由处理器600，如中央处理器600、数字信号处理器600或微处理器600执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器500技术、CD-ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。Those skilled in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware and an appropriate combination thereof. Some or all of the physical components may be implemented as software executed by a processor 600, such as a central processing unit 600, a digital signal processor 600, or a microprocessor 600, or as hardware, or as an integrated circuit, Such as application specific integrated circuits. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those of ordinary skill in the art, the term computer storage media includes both volatile and nonvolatile media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules, or other data. permanent, removable and non-removable media. Computer storage media including, but not limited to, RAM, ROM, EEPROM, flash memory or other memory 500 technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridges, tape, magnetic disk storage or other magnetic storage devices, or Any other medium that can be used to store desired information and that can be accessed by a computer.
此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。In addition, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .
此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。In addition, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .
上面结合附图对本发明实施例作了详细说明，但是本发明不限于上述实施例，在所属技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下，作出各种变化。The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge of those of ordinary skill in the art, various modifications can be made without departing from the gist of the present invention. kind of change.

Claims (10)

  1. 一种基于数控加工***的轨迹滤波方法，其特征在于，包括：A trajectory filtering method based on a numerical control machining system, characterized in that it comprises:
    获取待处理曲线；Get the curve to be processed;
    对所述待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值；performing a first filtering process on the curve to be processed to obtain a first trajectory curve and a first error value;
    对所述第一误差值进行第二滤波处理，得到第二误差值；performing a second filtering process on the first error value to obtain a second error value;
    根据所述第二误差值对所述第一轨迹曲线进行再补偿处理，得到与所述待处理曲线对应的第二轨迹曲线。Perform recompensation processing on the first trajectory curve according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed.
  2. 根据权利要求1所述的轨迹滤波方法，其特征在于，所述第一误差值的数量为多个，所述对所述第一误差值进行第二滤波处理，得到第二误差值，包括：The trajectory filtering method according to claim 1, wherein the quantity of the first error value is multiple, and performing the second filtering process on the first error value to obtain the second error value comprises:
    在多个所述第一误差值中，过滤出低于预设频率的所述第一误差值；Among the plurality of first error values, filtering out the first error values lower than a preset frequency;
    将过滤后的所述第一误差值作为第二误差值。The filtered first error value is used as the second error value.
  3. 根据权利要求1所述的轨迹滤波方法，其特征在于，所述第一滤波处理由如下公式实现：The trajectory filtering method according to claim 1, wherein the first filtering process is realized by the following formula:
    Figure PCTCN2021128420-appb-100001
    Figure PCTCN2021128420-appb-100001
    其中，所述P m表示所述第一轨迹曲线的第m个数据，所述w i表示第i个第一权重系数，所述n表示第一滤波参数，所述P r,i表示第一轨迹曲线的第i个数据。 Wherein, the P m represents the m-th data of the first trajectory curve, the w i represents the i-th first weight coefficient, the n represents the first filter parameter, and the P r,i represents the first The i-th data of the track curve.
  4. 根据权利要求1所述的轨迹滤波方法，其特征在于，所述第一误差值由如下公式获得：The trajectory filtering method according to claim 1, wherein the first error value is obtained by the following formula:
    e m＝P r,m-P m e m =P r,m -P m
    其中，所述e m表示第m个第一误差值，所述P r,m表示第一轨迹曲线的第m个数据，所述P m表示所述第一轨迹曲线的第m个数据。 Wherein, the e m represents the m-th first error value, the P r,m represents the m-th data of the first trajectory curve, and the P m represents the m-th data of the first trajectory curve.
  5. 根据权利要求1所述的轨迹滤波方法，其特征在于，所述第二误差值由如下公式获得：The trajectory filtering method according to claim 1, wherein the second error value is obtained by the following formula:
    Figure PCTCN2021128420-appb-100002
    Figure PCTCN2021128420-appb-100002
    其中，所述f m表示第m个第二误差值，所述
    Figure PCTCN2021128420-appb-100003
    表示第i个第二权重系数，所述
    Figure PCTCN2021128420-appb-100004
    表示第二滤波参数，所述e m表示第m个第一误差值。     Wherein, said f m represents the mth second error value, said
    Figure PCTCN2021128420-appb-100003
    Indicates the i-th second weight coefficient, the
    Figure PCTCN2021128420-appb-100004
    represents the second filtering parameter, and em represents the mth first error value.
  6. 根据权利要求1所述的轨迹滤波方法，其特征在于，所述再补偿处理由以下公式实现：The trajectory filtering method according to claim 1, wherein the recompensation process is realized by the following formula:
    Figure PCTCN2021128420-appb-100005
    Figure PCTCN2021128420-appb-100005
    其中，所述
    Figure PCTCN2021128420-appb-100006
    表示所述第二轨迹曲线的第m个数据，所述P m表示所述第一轨迹曲线的第m个数据，所述f m表示第m个第二误差值。     Among them, the
    Figure PCTCN2021128420-appb-100006
    represents the mth data of the second trajectory curve, the P m represents the mth data of the first trajectory curve, and the f m represents the mth second error value.
  7. 一种基于数控加工***的轨迹滤波装置，其特征在于，包括：A trajectory filtering device based on a numerical control machining system, characterized in that it comprises:
    数据采集单元，用于获取待处理曲线；A data acquisition unit, configured to acquire curves to be processed;
    第一滤波单元，用于对所述待处理曲线进行第一滤波处理，得到第一轨迹曲线和第一误差值；a first filtering unit, configured to perform a first filtering process on the curve to be processed to obtain a first trajectory curve and a first error value;
    第二滤波单元，用于对所述第一误差值进行第二滤波处理，得到第二误差值；a second filtering unit, configured to perform a second filtering process on the first error value to obtain a second error value;
    再补偿单元，用于根据所述第二误差值对所述第一轨迹曲线进行再补偿处理，得到与所述待处理曲线对应的第二轨迹曲线。The recompensation unit is configured to perform recompensation processing on the first trajectory curve according to the second error value to obtain a second trajectory curve corresponding to the curve to be processed.
  8. 根据权利要求7所述的轨迹滤波装置，其特征在于：所述第一误差值的数量为多个，所述第二滤波单元还用于在多个所述第一误差值中，过滤出低于预设频率的所述第一误差值，并将过滤后的所述第一误差值作为第二误差值。The trajectory filtering device according to claim 7, characterized in that: there are multiple first error values, and the second filtering unit is further configured to filter out low The first error value at a preset frequency, and the filtered first error value is used as a second error value.
  9. 一种电子设备，其特征在于，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1至6任意一项所述的基于数控加工***的轨迹滤波方法。An electronic device, characterized in that it comprises: a memory, a processor, and a computer program stored on the memory and operable on the processor, when the processor executes the computer program, the computer program according to claim 1 is realized. The trajectory filtering method based on the numerical control machining system described in any one of to 6.
  10. 一种计算机可读存储介质，其特征在于：存储有计算机可执行指令，所述计算机可执行指令用于执行如权利要求1至6任意一项所述的基于数控加工***的轨迹滤波方法。A computer-readable storage medium, characterized in that: computer-executable instructions are stored, and the computer-executable instructions are used to execute the trajectory filtering method based on a numerical control machining system according to any one of claims 1 to 6.
PCT/CN2021/128420 2021-08-23 2021-11-03 Trajectory filtering method and apparatus based on numerical control machining system, and electronic device WO2023024264A1 (en)

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