CN116500966A - Motion path planning method, device, processing equipment and storage medium - Google Patents

Abstract

The application is applicable to the technical field of path planning, and provides a motion path planning method, a motion path planning device, processing equipment and a storage medium, wherein the motion path planning method comprises the following steps: obtaining boundary line segments of each part graph, wherein each part graph is positioned at different positions; connecting the end points of the boundary line segments of one part graph with the end points of the boundary line segments of the other part graph by using inclined straight line segments, wherein the minimum included angle between the inclined straight line segments and the height direction is more than 0 degrees and less than 90 degrees; and connecting the inclined straight line segment with at least a part of the boundary line segments to form a closed envelope line which can surround all the part patterns, so as to be used as a motion path of a processing device. The motion path planning method provided by the embodiment of the application can improve the efficiency of the processing device.

Description

Motion path planning method, device, processing equipment and storage medium

technical field

The present application belongs to the technical field of path planning, and in particular relates to a motion path planning method, device, processing equipment and storage medium.

Background technique

In the field of processing and manufacturing, a processing device (such as a laser head assembly) needs to process (such as laser cutting or laser marking) at different positions on a plate to process multiple parts. Before processing each part, the processing device needs to walk according to the set motion path according to the position of each part, so as to cut the remaining material or run the frame on the plate. Currently, the motion path set for the processing device is relatively complicated, which reduces the efficiency of the processing device.

Contents of the invention

The embodiments of the present application provide a motion path planning method, device, processing equipment and storage medium, which can improve the efficiency of the processing device.

In the first aspect, the embodiments of the present application provide a motion path planning method, including:

Obtaining the boundary line segment of each part figure, wherein each part figure is located in a different position;

Connecting the end point of the boundary line segment of one said part figure with the end point of the boundary line segment of another said part figure with an inclined straight line segment, the minimum angle between said inclined straight line segment and the height direction is greater than 0° and less than 90°;

Connecting the inclined straight line segment and at least a part of the boundary line segment to form a closed envelope that can surround all the part graphics, as a movement path of the processing device.

In a second aspect, an embodiment of the present application provides a motion path planning device, including:

The boundary line segment acquisition module is used to: acquire the boundary line segment of each part figure, wherein each part figure is located in a different position;

A connection module, configured to: use an inclined straight line segment to connect the end point of the boundary line segment of one said part figure with the end point of another said part figure's boundary line segment, and the minimum included angle between said inclined straight line segment and the height direction is greater than 0 ° and less than 90°;

The closing module is used for: connecting the inclined straight line segment with at least a part of the boundary line segment to form a closed envelope that can surround all the part graphics, as a movement path of the processing device.

In the third aspect, the embodiments of the present application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, Realize the motion path planning method described in any one of the above-mentioned first aspects.

In a fourth aspect, the embodiments of the present application provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any one of the above-mentioned first aspects. motion path planning method.

In a fifth aspect, the embodiments of the present application provide a computer program product, which, when the computer program product is run on a terminal device, causes the terminal device to execute the motion path planning method described in any one of the above first aspects.

The beneficial effect that the embodiment of the present application exists is:

Connect the end point of the boundary line segment of one part figure with the end point of the boundary line segment of another part figure by inclined straight line segment, and connect the aforementioned inclined straight line segment with at least a part of the boundary line segment to form a closed envelope that can surround all part figures, as The movement path of the processing device; since the line segment between two points is the shortest, connecting the end point of one part figure with the end point of another part figure with an inclined straight line segment can make the movement path shorter than connecting with a broken line segment or a curved line segment , so that the processing device can complete the path in a shorter time, and the efficiency of the processing device can be improved.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings that need to be used in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only the application. For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

FIG. 1 is a schematic flowchart of a motion path planning method provided by an embodiment of the present application;

Fig. 2 is a schematic diagram of part graphics provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a motion path planning method provided by an embodiment of the present application;

Fig. 4 is a schematic diagram of a closed envelope provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a motion path planning method provided by another embodiment of the present application;

FIG. 6 is a schematic flowchart of step A2 of the motion path planning method provided by an embodiment of the present application;

Fig. 7 is a schematic diagram of an upper boundary line segment and a lower boundary line segment of a part graphic provided by an embodiment of the present application;

Fig. 8 is a schematic diagram of the position of an inclined straight line provided by an embodiment of the present application;

FIG. 9 is a schematic flowchart of step A2 of the motion path planning method provided by another embodiment of the present application;

Fig. 10 is a schematic diagram of the minimum enclosing rectangle of a part graphic provided by an embodiment of the present application;

Fig. 11 is a schematic diagram of step A2 of the motion path planning method provided by an embodiment of the present application;

Fig. 12 is a schematic diagram of step A2 of the motion path planning method provided by another embodiment of the present application;

Fig. 13 is a schematic flowchart of step A2 of the motion path planning method provided by another embodiment of the present application;

Fig. 14 is a schematic diagram of step A2 of the motion path planning method provided by another embodiment of the present application;

Fig. 15 is a schematic flowchart of step A2 of the motion path planning method provided by another embodiment of the present application;

Fig. 16 is a schematic diagram of step A2 of the motion path planning method provided by another embodiment of the present application;

Fig. 17 is a schematic flowchart of step A2 of the motion path planning method provided by another embodiment of the present application;

Fig. 18 is a schematic diagram of Step A2 of the motion path planning method provided by another embodiment of the present application;

Fig. 19 is a schematic structural diagram of a motion path planning device provided by an embodiment of the present application;

Fig. 20 is a schematic structural diagram of a connection module of a motion path planning device provided by an embodiment of the present application;

Fig. 21 is a schematic structural diagram of a connection module of a motion path planning device provided by another embodiment of the present application;

Fig. 22 is a schematic structural diagram of a connection module of a motion path planning device provided in another embodiment of the present application;

Fig. 23 is a schematic structural diagram of a connection module of a motion path planning device provided in another embodiment of the present application;

Fig. 24 is a schematic structural diagram of a connection module of a motion path planning device provided in another embodiment of the present application;

Fig. 25 is a schematic structural diagram of processing equipment provided by an embodiment of the present application.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved in this application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings 1 to 25 and the embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and techniques are presented for a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

As used in this specification and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

In addition, in the description of the specification and the appended claims of the present application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.

Reference to "one embodiment" or "some embodiments" or the like in the specification of the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "including", "comprising", "having" and variations thereof mean "including but not limited to", unless specifically stated otherwise.

Embodiments of the present application provide a motion path planning method, which can be used in processing equipment (such as laser processing equipment), and specifically can be used to plan the motion path of a processing device (such as a laser head assembly) of the processing equipment. The aforementioned moving path may be a path taken by the processing device to cut the material (such as a board) or walk the frame.

FIG. 1 is a schematic flowchart of a motion path planning method provided by an embodiment of the present application. Referring to FIG. 1 , the motion path planning method provided by the embodiment of the present application includes steps A1 to A3.

Step A1, obtaining the boundary line segment of each part graphic.

Fig. 2 is a schematic diagram of part graphics provided by an embodiment of the present application. Referring to FIG. 2 , the part graphic 1 may be virtual, such as a graphic representing a part located in a computer system.

Each part figure 1 is located in a different position. For example, referring to FIG. 2 , each part figure 1 is located on the same two-dimensional plane, but the position of each part figure 1 on the aforementioned two-dimensional plane is different, and each part figure 1 is distributed at intervals.

Part graphic 1 is a graphic used to represent a part, which may be a rectangle enveloping a part. Multiple parts correspond to multiple rectangles.

Certainly, according to the actual situation, the part figure 1 may also be a triangle or a polygon with sides greater than four, such as a pentagon, a hexagon, a heptagon or an octagon.

The embodiment of the present application will be described by taking the part figure 1 as a rectangle as an example.

A rectangle is formed by connecting line segments, which are the boundary segments of the rectangle.

Obtaining the boundary line segment of each part graph is to obtain the geometric feature data of the boundary line segment. The aforementioned geometric feature data includes the position of the endpoint of the boundary line segment and the direction of the line segment. The aforementioned geometric feature data can be obtained from a memory, or can be obtained through communication with an external computer.

Obtaining the boundary line segment of each part figure 1 may be obtaining the upper boundary line segment and the lower boundary line segment of each part figure, specifically, the upper boundary line segment and the lower boundary line segment may be added to the set.

Step A2. Connect the end point of the boundary line segment of one part figure with the end point of the boundary line segment of another part figure with an inclined straight line segment, the minimum angle between the aforementioned inclined line segment and the height direction is greater than 0° and less than 90°.

Each boundary segment has two endpoints; these endpoints are also the endpoints of the part drawing to which the boundary segment belongs.

Fig. 3 is a schematic diagram of a motion path planning method provided by an embodiment of the present application. With reference to Fig. 3, connect the end point of the boundary line segment of a part figure 1 with the end point of the boundary line segment of another part figure 1 with the inclined straight line segment 2, realize that a part figure is connected with another part figure with a straight line segment; Wherein, The aforementioned oblique straight section 2 follows as part of the movement path of the processing device.

There are two complementary angles between the inclined straight line segment 2 and the height direction G. Wherein, referring to FIG. 3 , the minimum angle α between the inclined straight line segment 2 and the height direction G is greater than 0° and less than 90°, which means that the inclined straight line segment 2 is neither perpendicular to the height direction G nor parallel to the height direction G.

It should be understood that the height direction G is only relative to the position of the part figure 1 , specifically, it can be a vertical direction; as the orientation of the part figure 1 changes, the height direction G can also be a horizontal direction.

Since the part graphics are distributed in different positions, the end point of the boundary segment of one part graphic and the end point of the boundary line segment of another part graphic can be connected by a polyline segment or a curve, which will make the path between the two end points longer; In the embodiment of the present application, the aforementioned two end points are connected by an inclined straight line segment, which can shorten the path between the two end points.

Step A3, connecting the inclined straight line segment with at least a part of the boundary line segment to form a closed envelope that can surround all part graphics, as a movement path of the processing device.

The boundary line segment is the boundary of the part figure 1, in order to realize enclosing all the part figure 1, connect the oblique straight line segment 2 determined earlier with the boundary line segment.

Fig. 4 is a schematic diagram of a closed envelope provided by an embodiment of the present application. Referring to Fig. 4, according to the actual situation, connecting the inclined straight line segment 2 with the boundary line segment may fail to enclose all part figures (for example, the obtained geometric figures are open loops), in order to realize enclosing all part figures 1, you can use A vertical line segment or a horizontal line segment connects two part graphics, and the aforementioned vertical line segment 8 or horizontal line segment 9 can be the vertical boundary line segment or the horizontal boundary line segment of the part figure 1, thereby obtaining a closed envelope 3 that can surround all part graphics, as The movement path of the processing device.

After the closed envelope 3 is obtained, the processing device moves along the closed envelope 3 to carry out residual cutting or border cutting on the material (such as a plate).

According to the above content, it can be known that the end point of the boundary line segment of one part figure is connected with the end point of the boundary line segment of another part figure by the inclined straight line segment, and the aforementioned inclined straight line segment is connected with at least a part of the boundary line segment to form a closed package that can surround all part figures As the movement path of the processing device; since the line segment between two points is the shortest, using an inclined straight line segment to connect the end point of one part graphic with the end point of another part graphic can be compared to connecting with a broken line segment or a curved line segment. The movement path is made shorter, so that the processing device can complete the path in a shorter time, and the efficiency of the processing device can be improved.

Referring to FIG. 4 , the closed envelope obtained by the motion path planning method provided by the embodiment of the present application includes an inclined straight line segment, and the aforementioned inclined straight line makes the closed envelope have a slope shape. Therefore, the aforementioned closed envelope is a slope envelope A sloped envelope has a shorter path than a stepped envelope formed by joining vertical and horizontal segments.

Step A2 of the foregoing embodiment (connecting the end point of the boundary line segment of one part figure with the end point of the boundary line segment of another part figure with an inclined straight line segment) may specifically include:

Referring to Fig. 3, the end point of the boundary line segment of a part figure 1 is connected with the end point of the boundary line segment of another part figure 1 adjacent in the height direction G with an inclined straight line segment 2, so that the inclined line is in the closed envelope 3 The smallest corner at the endpoint of segment 2 is greater than 90°.

Specifically, each part figure 1 has multiple endpoints, and by connecting the endpoints of two adjacent part figures 1 in the height direction G through the inclined straight line segment 2, the minimum corner at the endpoints can be guaranteed to be larger than 90°.

A stepped envelope formed by connecting vertical and horizontal segments, with a 90° corner at the junction. In the closed envelope obtained in the embodiment of the present application, the minimum corner at the endpoint of the inclined straight line is greater than 90°, that is, it is greater than the corner at the junction of the stepped envelope. The larger the corner, the faster the moving speed of the processing device will be. It can be larger, and the processing efficiency of the processing device can be further improved.

Step A2 of the above-mentioned embodiment (connecting the end point of the boundary line segment of a part figure with the end point of the boundary line segment of another part figure with an inclined straight line segment) can also specifically include:

Make the distance of the inclined straight line segment 2 the shortest.

Fig. 5 is a schematic diagram of a motion path planning method provided by another embodiment of the present application. Referring to Fig. 5, specifically, connecting the two end points with the shortest distance among the endpoints of the boundary line segments of the two part graphics 1 with an inclined straight line segment 2 can make the distance of the aforementioned inclined straight line segment 2 the shortest, which can make the closed envelope The area of the line is kept as small as possible, thereby saving material.

In some other embodiments, the two end points with the longest distance among the end points of the boundary line segments of the two part graphics 1 can be connected with an inclined straight line segment 2. Since the straight line between the two points is the shortest, the movement path of the processing device can be made The shortest length can further improve the processing efficiency of the processing device.

Fig. 6 is a schematic flowchart of step A2 of the motion path planning method provided by an embodiment of the present application. Referring to 6, the step A2 of the above-mentioned embodiment (connecting the end point of the boundary line segment of one part figure with the end point of the boundary line segment of another part figure with an inclined straight line segment) may specifically include step A21 and step A22.

Step A21. Determine the highest boundary line segment in the height direction.

Fig. 7 is a schematic diagram of an upper boundary line segment and a lower boundary line segment of a part graphic provided by an embodiment of the present application. Referring to FIG. 7, there are multiple part graphics 1, and therefore, there are multiple boundary line segments.

Referring to FIG. 7 , the highest boundary line segment 11 can be determined in the height direction G, and this boundary line segment can be used as a reference.

For example, after the upper boundary line segment and the lower boundary line segment are obtained, the upper boundary line segment and the lower boundary line segment can be placed in the upper and lower boundary set {B}, and sorted by size, for example, according to the height direction G (also called Y axis) from large to small, which can facilitate the determination of the highest boundary line segment 11 in the height direction G.

Fig. 8 is a schematic diagram of the position of an inclined straight line provided by an embodiment of the present application.

Step A22, use the inclined straight line segment 2 to connect the end point of the boundary line segment of a part figure 1 with the end point of the boundary line segment of another part figure 1 adjacent in the height direction G, so that the inclined straight line segment is in the closed envelope 3 The minimum corner angle at the end point of 2 is greater than 90°, refer to FIG. 8 , and make the two end points of the inclined straight line segment 2 be located on the same side of the first side end point of the highest boundary line segment 11 .

The minimum corner at the end point of the inclined straight line segment 2 is larger than 90°, and the larger the corner is, the greater the moving speed of the processing device can be, which can further improve the processing efficiency of the processing device.

Fig. 9 is a schematic flowchart of step A2 of the motion path planning method provided by another embodiment of the present application. With reference to Fig. 9, the step A2 of above-mentioned embodiment (connecting the end point of the boundary line segment of a part figure with the end point of the boundary line segment of another part figure with inclined straight line segment), specifically can comprise step A21 ' to step A23 '.

Step A21', obtain the first enveloping boundary line segment 41 with the highest position in the height direction G, the aforementioned first enveloping boundary line segment 41 is the side of the smallest enclosing rectangle 4 of all part graphics 1 .

Fig. 10 is a schematic diagram of a minimum enclosing rectangle of a part graphic provided by an embodiment of the present application. Referring to FIG. 10 , specifically, all part graphics 1 located on the same plane can be enveloped by a rectangle. When the four sides of the rectangle coincide with the sides of the part graphics, the resulting rectangle is the minimum enveloping rectangle 4.

The side with the highest position in the height direction G of the minimum envelope rectangle 4 is taken as the first envelope boundary line segment 41 .

Step A22', using the first side end point 111 of the highest boundary line segment 11 in the height direction G, truncating the first envelope boundary line segment 41 and retaining the remaining first envelope boundary line segment on the first side to obtain the first side A first envelope segment 41' remains.

Specifically, after the boundary line segment of each part figure 1 is obtained, the boundary line segment of each part figure 1 in the height direction G is determined, and then the highest position boundary line segment 11 is determined from these boundary line segments. As mentioned above, specifically, the boundary line segment 11 with the highest position can be determined from the upper and lower boundary set {B}.

The boundary line segment 11 at the highest position has two end points, which are a first side end point 111 and a second side end point 112 .

Fig. 11 is a schematic diagram of step A2 of the motion path planning method provided by an embodiment of the present application. Referring to FIG. 11 , the first envelope boundary line segment 41 is truncated by the first side endpoint 111 and the remaining first envelope boundary line segment on the first side is reserved to obtain the remaining first envelope line segment 41' on the first side.

Step A23': Translate the remaining first envelope segment 41' on the first side down to the next boundary segment 12 along the height direction G, if the remaining first envelope segment 41' and at least a part of the next boundary segment 12 on the first side Coincidentally, then from the first side end point of the next boundary line segment 12, the remaining first envelope line segment 41' on the first side is cut off and the remaining first envelope line segment 41' on the first side is retained, and the inclined straight line segment 2B is used An end point of the next boundary line segment 12 is connected with the first side end point of the previous boundary line segment 11, and the remaining first envelope line segment 41' on the first side is repeated until the remaining first side remains The length of the first envelope segment 41' is zero.

If there is no overlapping part between the first envelope line segment 41' and the next boundary line segment 12 on the first side, then skip the current next boundary line segment 12 and continue to translate downwards until the next boundary line segment with overlapping parts .

The aforementioned sloping straight line 2B can subsequently be used as the upper left boundary of the closed envelope 3 , therefore, the aforementioned sloping straight line 2B can be added to the front of the left upper bound set {K1}. It should be understood that the upper left bound set {K1} contains one or more inclined straight lines 2B.

With reference to Fig. 11, connecting an end point of the next boundary line segment with the first side end point of the previous boundary line segment with an inclined straight line segment in the above-mentioned step A23' may specifically include: connecting the next boundary line segment 13 with an inclined straight line segment 2B. The specified side endpoint is connected to the first side endpoint 111 of the previous boundary line segment 11 , and the aforementioned specified side endpoint is located on the first side of the first side endpoint 111 of the previous boundary line segment 11 .

Fig. 12 is a schematic diagram of step A2 of the motion path planning method provided by another embodiment of the present application. With reference to Fig. 12, there are two endpoints of the next boundary line segment 12, if the two endpoints of the next boundary line segment 12 are all located on the first side of the first side endpoint 111, then the endpoint closest to the first side endpoint 111 is used as the aforementioned Specify the side endpoint; in this case, the inclined straight line segment 2B and the next boundary line segment 12 can be used as the upper left boundary of the closed envelope 3 and added to the front of the left upper bound set {K1}; this can make the aforementioned inclined straight line segment 2 The distance is the shortest, so that the area of the closed envelope can be made as small as possible, and material can be saved.

The above step A3 (connecting the inclined straight line segment with at least a part of the boundary line segment to form a closed envelope that can surround all part graphics) may specifically include: if the remaining first envelope line segment 41' and the next boundary line segment 12 on the first side When all parts are coincident, the inclined straight line segment 2 is connected with the next boundary line segment 12 to form a closed envelope 3 that can surround all part graphics.

Exemplarily, referring to FIG. 11 , the X-axis coordinate values of the two endpoints of the next boundary line segment 12 are X1 and X2, wherein X1 is the X-axis coordinate value of the endpoint of the first side, and X2 is the X-axis coordinate value of the endpoint of the second side. axis coordinate value; the X-axis coordinate value of the first side endpoint 111 is X3.

With reference to Fig. 12, if X1<X2<X3, that is, the two endpoints of the next boundary line segment 12 are all located on the first side (i.e. the left side) of the first side endpoint 111, the remaining first envelope line segment 41 on the first side 'Move down to the next boundary line segment 12, and truncate the right side of the remaining first envelope line segment 41' on the first side from X1, retain the remaining first envelope line segment 41' on the left side, and use an inclined straight line Section 2B connects the end point where X2 of the next boundary line segment 12 is with the first side endpoint 111 of the previous boundary line segment 11, and adds the inclined straight line segment 2B and the next boundary line segment 12 to the front of the left upper bound set {K1}, so that The inclined straight line segment 2 is connected with the next boundary line segment 12 to form a closed envelope 3 that can surround all part graphics.

Referring to Fig. 11, if X2>X3>X1, move the remaining first envelope segment 41' on the first side down to the next boundary segment 13, and move the right side of the remaining first envelope segment 41' from X1 truncated at the left side, retaining the remaining first envelope line segment 41' on the first side on the left side, connecting the end point where X1 of the next boundary line segment 12 is located with the first side end point 111 of the previous boundary line segment 11 with the inclined straight line segment 2B, and The oblique line segment 2B is added to the front of the upper left bound set {K1}. Repeat the aforementioned operations on the remaining first envelope segment 41' on the first side until the length of the remaining first envelope segment 41' on the first side is zero, thereby obtaining a complete left upper bound set {K1} .

Fig. 13 is a schematic flow chart of step A2 of the motion path planning method provided by another embodiment of the present application. With reference to Fig. 13, the step A2 of above-mentioned embodiment (connecting the end point of the boundary line segment of a part figure with the end point of the boundary line segment of another part figure with inclined straight line segment), can also comprise step A24 ' and step A25 '.

Step A24', use the second side endpoint 112 of the highest boundary line segment 11 in the height direction G to truncate the first envelope boundary line segment 41 and retain the remaining first envelope boundary line segment on the second side to obtain the second side A first envelope segment 41" remains.

Fig. 14 is a schematic diagram of step A2 of the motion path planning method provided by another embodiment of the present application. Referring to FIG. 14 , as mentioned above, the highest boundary line segment 11 has a second side endpoint 112 .

Referring to FIG. 14 , the first envelope boundary line segment 41 is truncated by the second side endpoint 112 and the remaining first envelope boundary line segment 41 located on the second side is retained to obtain the remaining first envelope line segment 41 ″ on the second side.

Step A25': Translating the remaining envelope segment 41" on the second side down to the next boundary line segment 13 along the height direction G, if at least a part of the remaining first envelope segment 41" on the second side coincides with the next boundary line segment 13, Then from the second side end point of the next boundary line segment 13, truncate the remaining first envelope line segment 41 " on the second side and retain the remaining first envelope line segment 41 " on the second side, and use the inclined straight line segment 2C to move the next An end point of a boundary line segment 13 is connected with the second side end point of the last boundary line segment 11, and the remaining first envelope line segment 41 " on the second side on the second side repeats the aforementioned operations until the remaining second side remains the first envelope line segment. The length of the envelope segment 41" is zero.

If there is no overlapping part between the first envelope line segment 41" and the next boundary line segment 13 on the second side, then skip the current next boundary line segment 13 and continue to translate downwards until the next boundary line segment with overlapping parts .

The aforementioned sloping straight line 2C can subsequently serve as the upper right boundary of the closed envelope 3 , therefore, the aforementioned sloping straight line 2C can be added to the front of the upper right boundary set {K3}. It should be understood that the upper right bound set {K3} contains one or more inclined straight lines 2C.

Fig. 15 is a schematic flow chart of step A2 of the motion path planning method provided by another embodiment of the present application. With reference to Fig. 15, the step A2 of above-mentioned embodiment (connecting the end point of the boundary line segment of a part figure with the end point of the boundary line segment of another part figure with inclined straight line segment), can also comprise step A21 " to step A23 ".

Step A21 ″, obtaining the second envelope boundary line segment 42 with the lowest position in the height direction G, the second envelope boundary line segment 42 being the side of the minimum envelope rectangle 4 .

As mentioned above, all part graphics 1 located on the same plane can be enveloped by a minimum enclosing rectangle 4 .

The lowest side of the minimum envelope rectangle 4 in the height direction G is used as the second envelope boundary line segment 42 .

Step A22", using the first side endpoint of the lowest boundary line segment 42 in the height direction G, truncating the second envelope boundary line segment 42 and retaining the remaining second envelope boundary line segment on the first side to obtain the first side remaining The second envelope segment 42'.

Fig. 16 is a schematic diagram of step A2 of the motion path planning method provided by another embodiment of the present application. Referring to FIG. 16 , as described above, after determining the boundaries of each part figure 1 in the height direction G, the lowest boundary line segment 14 is determined from these boundary line segments. Specifically, the boundary line segment 14 with the lowest position can be determined from the upper and lower boundary set {B}.

Referring to FIG. 16 , the boundary segment 14 at the lowest position also has two endpoints, which are a first side endpoint 141 and a second side endpoint 142 .

Referring to FIG. 16 , the second envelope boundary line segment 42 is truncated by the first side endpoint 141 and the remaining second envelope boundary line segment located on the first side is retained to obtain the remaining second envelope line segment 42' on the first side.

Step A23", translate the remaining second envelope segment 42' on the first side up to the next boundary line segment 15 along the height direction G, if at least a part of the remaining second envelope segment 42' on the first side coincides with the next boundary line segment 15 , then from the first side end point 151 of the next boundary line segment 15 truncate the remaining second envelope line segment 42' on the first side and retain the remaining second envelope line segment 42' on the first side, using the inclined straight line segment 2D An end point of the next boundary line segment 15 is connected with the first side end point of the previous boundary line segment 14, and the remaining second envelope line segment 42' on the first side is repeated until the remaining first side remains The length of the second envelope segment is zero.

If there is no overlapping part between the second envelope line segment 42' and the next boundary line segment 15 on the first side, then skip the current next boundary line segment 15 and continue to translate upwards until the next boundary line segment with an overlapping part is translated.

The aforementioned inclined straight line 2D can subsequently serve as the lower left boundary of the closed envelope 3 , therefore, the aforementioned inclined straight line 2D can be added to the front of the left lower bound set {K4}. It should be understood that the left lower bound set {K4} contains one or more inclined straight lines 2D.

Fig. 17 is a schematic flow chart of step A2 of the motion path planning method provided by another embodiment of the present application. With reference to Fig. 17, the step A2 of above-mentioned embodiment (connecting the end point of the boundary line segment of a part figure with the end point of the boundary line segment of another part figure with inclined straight line segment), can also comprise step A24 " and step A25 ".

Step A24", use the second side end point 142 of the lowest boundary line segment 14 in the height direction G to truncate the second envelope boundary line segment 42 and retain the remaining second envelope boundary line segment on the second side to obtain the second side A second envelope segment 42" remains.

Fig. 18 is a schematic diagram of Step A2 of the motion path planning method provided by another embodiment of the present application. Referring to FIG. 18 , the lowest boundary line segment 14 has a second side endpoint 142 as previously described.

The second envelope boundary segment 42 is truncated by the second side endpoint 142 and the remaining second envelope boundary line segment located on the second side is retained to obtain the remaining second envelope boundary line segment 42 ″ on the second side.

Step A25", translate the remaining second envelope line segment 42" on the second side up to the next boundary line segment 16 along the height direction G, if the remaining second envelope line segment 42" on the second side coincides with at least a part of the next boundary line segment 16 , then from the second side endpoint 162 of the next boundary line segment 16, the remaining second envelope line segment 42 " on the second side is cut off and the second side remaining second envelope line segment located on the second side is reserved, and the lower line segment is moved by the inclined straight line segment 2E An end point of a boundary line segment 16 is connected with the second side end point of the last boundary line segment 14, and the remaining second envelope line segment 42 " on the second side on the second side repeats the aforementioned operations until the remaining second side of the remaining second side. The envelope segment 42" has a length of zero.

If the remaining second envelope line segment 42 ″ on the second side does not overlap with the next boundary line segment 16, skip the current next boundary line segment 16 and continue to translate upwards until it reaches the next boundary line segment with an overlapping portion.

The aforementioned inclined straight line 2E can subsequently be used as the lower right boundary of the closed envelope 3 , therefore, the aforementioned inclined straight line 2E can be added to the front of the lower right bound set {K6}. It should be understood that the lower right bound set {K6} contains one or more inclined straight lines 2E.

Through the above steps, the upper left bound set {K1}, the upper middle bound K2, the upper right bound set {K3}, the lower left bound set {K4}, the lower middle bound K5, and the lower right bound set {K6} can be obtained. Wherein, the upper middle boundary K2 may be the highest boundary line segment 11 , and the middle lower boundary K5 may be the lowest boundary line segment 14 .

Connect {K1}, K2 and {K3} in sequence, then reverse the direction of {K4}, K5 and {K6}, and reverse the order, then connect {K4}, K5 and {K6} in sequence, and turn the graph Closed, a closed figure area with direction (that is, the closed envelope 3) can be obtained, so as to serve as the movement path of the processing device.

It should be understood that in some embodiments, only the upper left bound set {K1}, the upper middle bound K2, the upper right bound set {K3}, the lower left bound set {K4}, the lower middle bound K5, and the lower right bound set {K6} can be obtained. One or more of them, for example, only the upper left bound set {K1} and upper middle bound K2 can be obtained, which is specifically related to the position of each part figure on the aforementioned two-dimensional plane.

In some embodiments, each part figure is connected with at most two of the remaining part figures, so that corners less than 90° can be avoided at the junction of the inclined straight line segment and the boundary line segment of the part figure as much as possible, so as to ensure the safety of the processing device. Moving speed.

The motion path planning method provided by the embodiments of the present application can improve the processing speed and the processing efficiency.

Corresponding to the method described in the above embodiments, FIG. 19 shows a structural block diagram of a motion path planning device provided by the embodiments of the present application. For the convenience of description, only the parts related to the embodiments of the present application are shown.

Referring to FIG. 19 , the motion path planning device provided by the embodiment of the present application includes a boundary segment acquisition module 1A, a connection module 2A and a closure module 3A.

The boundary segment acquiring module 1A is configured to: acquire the boundary segment of each part figure, wherein each part figure is located in a different position.

The connection module 2A is used for: connecting the end point of the boundary line segment of one part figure with the end point of the boundary line segment of another part figure with an inclined straight line segment, the minimum included angle between the aforementioned inclined straight line segment and the height direction is greater than 0° and less than 90° °.

The closing module 3A is used for: connecting the inclined straight line segment with at least a part of the boundary line segment to form a closed envelope that can surround all part graphics, as a movement path of the processing device.

Fig. 20 is a schematic structural diagram of a connection module of a motion path planning device provided by an embodiment of the present application. Referring to FIG. 20 , the connection module 2A may include a first envelope boundary acquisition unit 21A, a first truncation unit 22A, and a first connection unit 23A.

The first envelope boundary acquisition unit 21A is configured to: acquire the highest first envelope boundary line segment in the height direction, the first envelope boundary line segment being the side of the minimum envelope rectangle of all part graphics.

The first truncation unit 22A is configured to: use the first side endpoint of the highest boundary line segment in the height direction to truncate the first envelope boundary line segment and retain the remaining first envelope boundary line segment on the first side to obtain the first The first envelope segment remains on the side.

The first connecting unit 23A is configured to: translate the remaining first envelope segment on the first side downward to the next boundary line segment along the height direction, if at least a part of the remaining first envelope segment on the first side coincides with the next boundary line segment , then cut off the remaining first envelope segment of the first side from the endpoint of the first side of the next boundary line segment and retain the remaining first envelope segment of the first side located on the first side, and divide the next boundary line segment with an inclined straight line segment One end point of is connected with the end point of the first side of the previous boundary line segment, and the above-mentioned operation is repeated for the remaining first envelope line segment of the first side located on the first side until the length of the remaining first envelope line segment of the first side remains to zero.

Fig. 21 is a schematic structural diagram of a connection module of a motion path planning device provided by another embodiment of the present application. Referring to FIG. 21 , the above connection module 2A may further include a second truncation unit 24A and a second connection unit 25A.

The second truncation unit 24A is configured to: use the second side end point of the highest boundary line segment in the height direction to truncate the first envelope boundary line segment and retain the remaining first envelope boundary line segment on the second side to obtain the second The first envelope segment remains on the side.

The second connection unit 25A is configured to: translate the remaining envelope segment on the second side downward to the next boundary line segment along the height direction, if at least a part of the remaining first envelope segment on the second side coincides with the next boundary line segment, then Cut off the remaining first envelope segment of the second side from the second side end point of the next boundary line segment and retain the remaining first envelope line segment of the second side located on the second side, connect one end point of the next boundary line segment with The second-side endpoints of the previous boundary line segment are connected, and the above operation is repeated for the remaining first envelope line segments on the second side until the length of the remaining first envelope line segments on the second side is zero.

Fig. 22 is a schematic structural diagram of a connection module of a motion path planning device provided by another embodiment of the present application. Referring to Fig. 22, the connection module 2A may further include a second envelope boundary acquisition unit 21A', a third truncation unit 22A' and a third connection unit 23A'.

The second envelope boundary acquisition unit 21A' is configured to: acquire the second envelope boundary line segment with the lowest position in the height direction, the aforementioned second envelope boundary line segment being the side of the minimum envelope rectangle.

The third truncation unit 22A' is configured to: use the first side endpoint of the lowest boundary line segment in the height direction to truncate the second envelope boundary line segment and retain the remaining second envelope boundary line segment on the first side to obtain the second envelope boundary line segment A second envelope segment remains on one side.

The third connecting unit 23A' is configured to: translate the remaining second envelope segment on the first side upwards to the next boundary line segment along the height direction, if at least a part of the remaining second envelope segment on the first side coincides with the next boundary line segment , then truncate the remaining second envelope segment on the first side from the endpoint of the first side of the next boundary line segment and retain the remaining second envelope line segment on the first side on the first side, and use an inclined straight line segment to replace one of the next boundary line segments The endpoint is connected to the endpoint of the first side of the previous boundary line segment, and the above operation is repeated for the remaining second envelope line segments on the first side until the length of the remaining second envelope line segments on the first side is zero.

Fig. 23 is a schematic structural diagram of a connection module of a motion path planning device provided by another embodiment of the present application. Referring to Fig. 23, the above-mentioned wiring module 2A may further include a fourth truncation unit 24A' and a fourth wiring unit 25A'.

The fourth truncation unit 24A' is configured to: use the second side endpoint of the lowest boundary line segment in the height direction to truncate the second envelope boundary line segment and retain the remaining second envelope boundary line segment on the second side to obtain the second envelope boundary line segment The second envelope segment remains on both sides.

The fourth connecting unit 25A' is configured to: translate the remaining second envelope line segment on the second side upwards to the next boundary line segment along the height direction, if at least a part of the remaining second envelope line segment on the second side coincides with the next boundary line segment , then truncate the remaining second envelope segment on the second side from the second side endpoint of the next boundary line segment and retain the second side remaining second envelope line segment located on the second side. The endpoint is connected to the second-side endpoint of the previous boundary segment, and the above operation is repeated for the remaining second envelope segment on the second side until the length of the remaining second-side remaining second envelope segment is zero.

Fig. 24 is a schematic structural diagram of a connection module of a motion path planning device provided by another embodiment of the present application. Referring to FIG. 24 , the above-mentioned wiring module 2A may include a boundary determining unit 21A" and a fifth wiring unit 22A".

The boundary determination unit 21A" is configured to: determine the highest boundary line segment in the height direction.

The fifth connection unit 22A", is used to: connect the end point of the boundary line segment of one part figure with the end point of the boundary line segment of another part figure adjacent in the height direction with an inclined straight line segment, so that in the closed envelope The minimum corner at the endpoints of the inclined straight segment is greater than 90°, and the two endpoints of the inclined straight segment are located on the same side of the first side endpoint of the highest boundary line segment.

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of the present application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat them here.

Fig. 25 is a schematic structural diagram of processing equipment provided by an embodiment of the present application. As shown in Figure 25 , the processing equipment 25 of this embodiment includes: at least one processor 250 (only one is shown in Figure 25 ), a memory 251 and a computer stored in the memory 251 and capable of running on the at least one processor 250 Program 252; when the processor 250 executes the computer program 252, the steps in any of the foregoing method embodiments are implemented.

The processing device 25 may be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The processing device may include, but is not limited to, a processor 250 and a memory 251 . Those skilled in the art can understand that Fig. 25 is only an example of processing equipment, and does not constitute a limitation to processing equipment, and may include more or less components than those shown in the illustration, or combine some components, or different components, such as It may also include input and output devices, network access devices, buses, etc.

The processor 250 can be a central processing unit (Central Processing Unit, CPU), and the processor 250 can also be other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The storage 251 may be an internal storage unit of the processing device 25 in some embodiments, such as a hard disk or memory of the processing device. Memory 251 can also be the external storage device of processing equipment in other embodiments, such as the plug-in type hard disk equipped on processing equipment, smart memory card (Smart Media Card, SMC), secure digital (SecureDigital, SD) card, flash memory Card (Flash Card), etc. Further, the storage 251 may also include both an internal storage unit of the processing device and an external storage device. The memory 251 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as program codes of computer programs. The memory 251 can also be used to temporarily store data that has been output or will be output.

Exemplarily, the computer program 252 can be divided into one or more modules/units, and one or more modules/units are stored in the memory 251 and executed by the processor 250 to complete the present application. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 252 in the processing equipment 25 .

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above system, reference may be made to the corresponding processes in the aforementioned method embodiments, and details will not be repeated here.

If the aforementioned integrated units are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the method of the above-mentioned embodiments in the present application can be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium; the computer program is processed When executed by the controller, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. Computer-readable media include: any entity or device capable of carrying computer program code to a device/terminal device, recording media, computer memory, read-only memory (ROM, Read-Only Memory), random-access memory (RAM, Random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunication signals under legislation and patent practice.

Embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented.

An embodiment of the present application provides a computer program product, which enables the processing device to implement the steps in the foregoing method embodiments when the computer program product is run on the processing device.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/device and method can be implemented in other ways. For example, the device/device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or Components may be combined or integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The foregoing units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims (10)

1. A method of motion path planning, comprising:

obtaining boundary line segments of each part graph, wherein each part graph is positioned at different positions;

connecting the end points of the boundary line segments of one part graph with the end points of the boundary line segments of the other part graph by using inclined straight line segments, wherein the minimum included angle between the inclined straight line segments and the height direction is more than 0 degrees and less than 90 degrees;

and connecting the inclined straight line segment with at least a part of the boundary line segments to form a closed envelope line which can surround all the part patterns, so as to be used as a motion path of a processing device.

2. The motion path planning method of claim 1, wherein connecting the end points of the boundary line segment of one of the part patterns with the end points of the boundary line segment of the other of the part patterns with the inclined straight line segment comprises:

acquiring a first envelope boundary line segment with the highest position in the height direction, wherein the first envelope boundary line segment is the edge of the minimum envelope rectangle of all the part graphs;

cutting off the first envelope boundary line segment by using a first side end point of the boundary line segment with the highest position in the height direction, and reserving the residual first envelope boundary line segment positioned on the first side to obtain a first side residual first envelope line segment;

And translating the first side residual first envelope line segment downwards to the next boundary line segment along the height direction, if the first side residual first envelope line segment coincides with at least one part of the next boundary line segment, cutting off the first side residual first envelope line segment from the first side end point of the next boundary line segment, reserving the first side residual first envelope line segment positioned on the first side, connecting one end point of the next boundary line segment with the first side end point of the last boundary line segment by using an inclined straight line segment, and repeating the operation on the first side residual first envelope line segment positioned on the first side until the length of the residual first side residual first envelope line segment is zero.

3. The motion path planning method of claim 2, wherein connecting the end points of the boundary line segment of one of the part patterns with the end points of the boundary line segment of the other of the part patterns with the inclined straight line segment further comprises:

cutting off the first envelope boundary line segment by using a second side end point of the boundary line segment with the highest position in the height direction, and reserving the residual first envelope boundary line segment positioned on the second side to obtain a residual first envelope line segment on the second side;

And translating the second side residual envelope line segment downwards to the next boundary line segment along the height direction, if the second side residual first envelope line segment coincides with at least one part of the next boundary line segment, cutting off the second side residual first envelope line segment from the second side end point of the next boundary line segment, and reserving the second side residual first envelope line segment positioned on the second side, connecting one end point of the next boundary line segment with the second side end point of the last boundary line segment by using an inclined straight line segment, and repeating the operation on the second side residual first envelope line segment positioned on the second side until the length of the residual second side residual first envelope line segment is zero.

4. The motion path planning method of claim 2, wherein connecting the end points of the boundary line segment of one of the part patterns with the end points of the boundary line segment of the other of the part patterns with the inclined straight line segment further comprises:

acquiring a second envelope boundary line segment with the lowest position in the height direction, wherein the second envelope boundary line segment is an edge of the minimum envelope rectangle;

cutting off the second wrapping boundary line segment by using a first side end point of the boundary line segment with the lowest position in the height direction, and reserving the remaining second wrapping boundary line segment positioned on the first side to obtain a first side remaining second wrapping line segment;

And (3) upwards translating the first side residual second wrapping line segment to the next boundary line segment along the height direction, if the first side residual second wrapping line segment is overlapped with at least one part of the next boundary line segment, cutting off the first side residual second wrapping line segment from the first side end point of the next boundary line segment, reserving the first side residual second wrapping line segment positioned on the first side, connecting one end point of the next boundary line segment with the first side end point of the last boundary line segment by using an inclined straight line segment, and repeating the operation on the first side residual second wrapping line segment positioned on the first side until the length of the residual first side residual second wrapping line segment is zero.

5. The method of claim 4, wherein connecting the end points of the boundary line segment of one of the part patterns with the end points of the boundary line segment of the other of the part patterns with the inclined straight line segment, further comprises:

cutting off the second wrapping boundary line segment by using a second side end point of the boundary line segment with the lowest position in the height direction, and reserving the rest second wrapping boundary line segment positioned on the second side to obtain a rest second wrapping line segment on the second side;

And (3) upwards translating the second side residual second wrapping line segment to the next boundary line segment along the height direction, if the second side residual second wrapping line segment coincides with at least one part of the next boundary line segment, cutting off the second side residual second wrapping line segment from the second side end point of the next boundary line segment, and reserving the second side residual second wrapping line segment positioned on the second side, connecting one end point of the next boundary line segment with the second side end point of the last boundary line segment by using an inclined straight line segment, and repeating the operation on the second side residual second wrapping line segment positioned on the second side until the length of the residual second side residual second wrapping line segment is zero.

6. The motion path planning method of claim 1, wherein connecting the end points of the boundary line segment of one of the part patterns with the end points of the boundary line segment of the other of the part patterns with the inclined straight line segment comprises:

determining the boundary line segment with the highest position in the height direction;

connecting the end point of the boundary line segment of one part graph with the end point of the boundary line segment of the other part graph adjacent in the height direction by using an inclined straight line segment, so that the minimum corner at the end point of the inclined straight line segment in the closed envelope is larger than 90 degrees, and the two end points of the inclined straight line segment are positioned on the same side of the first side end point of the boundary line segment with the highest position.

7. A method of path planning according to any one of claims 1 to 6 in which each of the part patterns is connected to at most two of the remaining part patterns.

8. A motion path planning apparatus, characterized in that the motion path planning apparatus comprises:

the boundary line segment acquisition module is used for: obtaining boundary line segments of each part graph, wherein each part graph is positioned at different positions;

the connecting line module is used for: connecting the end points of the boundary line segments of one part graph with the end points of the boundary line segments of the other part graph by using inclined straight line segments, wherein the minimum included angle between the inclined straight line segments and the height direction is more than 0 degrees and less than 90 degrees;

a closing module for: and connecting the inclined straight line segment with at least a part of the boundary line segments to form a closed envelope line which can surround all the part patterns, so as to be used as a motion path of a processing device.

9. A machining apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the movement path planning method according to any one of claims 1 to 7 when executing the computer program.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the movement path planning method according to any one of claims 1 to 7.