Self-adaptive control method for table top of cutting system

Abstract

The invention discloses a method for adaptively controlling a table top of a cutting system, which belongs to the technical field of vibration cutter processing, and comprises the following steps of: establishing a matrix type acquisition full platform, marking acquisition points on the matrix type acquisition full platform, and obtaining a row sequence number of each acquisition point; detecting depth coordinates of each acquisition point, and establishing a depth database of the acquisition points; taking the first acquisition point as a reference point, and establishing a compensation depth database of the acquisition points based on the depth of the first acquisition point; all coordinate points passed by the machining tool in the machining process are obtained; judging whether the machining process is real movement or not; on the basis that the machining process is real movement, the current coordinate point of the machining tool in the real movement process is obtained; on the basis of the current coordinate point, the compensation depth of the current coordinate point is obtained according to a non-linear compensation formula in combination with the compensation depth database of the collection points; and based on the compensation depth of the current coordinate point, the lifting shaft is driven to compensate the machining tool. And compensation is performed according to the flatness of the platform, so that the cutting precision and quality are improved.

Description

Technical Field

[0001] The invention relates to the technical field of vibration knife processing, and in particular to a method for adaptively controlling a table of a knife cutting system. Background Art

[0002] In the field of vibrating knife processing, the lifting axis generally controls the tool to descend to a set coordinate depth during cutting processing. The descending depth here is called the knife depth. The fixed knife depth is maintained during the cutting process to process the cutting material on the cutting platform. Because the cutting platform has irregular depressions or bulges, if the tool cuts from left to right, the tool remains at a fixed depth. In the depressed position, the cutting material will also be depressed with the platform, resulting in the inability to completely cut through the material. In the bulged position, the tool may also scratch the table surface, so that the depression area is not cut through and the bulged area is cut too deep.

[0003] In the prior art, a vibration-damping tool system is used to reduce the impact of vibration on cutting quality, ensure that the cut material is flat, and improve cutting accuracy and quality. This treatment method is cumbersome and has limited effect.

[0004] Therefore, how to provide a method to enable the tool to automatically adjust the feed compensation as the flatness of the cutting platform changes, thereby effectively improving the cutting accuracy and quality, is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] To this end, the present invention provides a method for adaptively controlling a tabletop of a knife cutting system to solve the problems existing in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: A method for adaptively controlling a tabletop of a knife cutting system comprises the following steps: Step S1: Based on the processing platform of the knife cutting system, a matrix-type acquisition platform is established, and acquisition points are marked on the matrix-type acquisition platform to obtain the row and column number of each acquisition point; Step S2: based on the collection points marked on the entire platform in the matrix collection, the depth coordinates of each collection point are detected to establish a depth database of the collection points; Step S3: Taking the first acquisition point as a reference point and based on the depth of the first acquisition point, establishing a compensation depth database of the acquisition points; Step S4: Acquire all coordinate points that the machining tool in the cutting system passes through during the machining process; Step S5: determining whether the machining process of the machining tool in the cutting system is a real movement; Step S6: based on the fact that the machining process of the machining tool in the cutting system is real movement, obtaining the current coordinate point of the machining tool during the real movement; Step S7: based on the current coordinate point of the machining tool during actual movement, combined with the compensation depth database of the acquisition point, and according to the nonlinear compensation formula, the compensation depth of the current coordinate point is obtained; Step S8: Based on the compensation depth of the current coordinate point, drive the lifting axis to compensate the machining tool.

[0007] Furthermore, in step S1, the collection points are marked on the matrix collection platform to obtain the row and column numbers of each collection point, specifically: Get the X-axis width and Y-axis height of the matrix acquisition platform, and set the acquisition interval I; Based on the acquisition spacing I, the acquisition points are marked on the matrix acquisition platform; Based on the number of rows and columns of the collection point on the matrix collection platform, the row and column sequence numbers of the matrix collection platform are obtained.

[0008] Furthermore, in step S2, based on the collection points marked on the entire platform in the matrix collection, the depth coordinates of each collection point are detected to establish a depth database of the collection points, which specifically includes: Step S201: Based on the matrix-based collection of row and column numbers of the entire platform, the depth of the collection point is detected starting from the first row and the first column; Step S202: the depth detection head moves to the collection point position of the corresponding row and column, and collects the depth of the collection point of the current row and column; Step S203: Determine whether the depth of the current row and column acquisition point is acquired successfully; Step S204: if the depth of the current row and column of acquisition points is not acquired successfully, return to step S202 to continue acquisition; Step S205: If the depth collection of the current row and column collection points is successful, proceed to the next step; Step S206: Determine whether the column number of the current row and column acquisition point is greater than the maximum column number; Step S207: if the column number of the current row and column collection point is less than the maximum column number, return to step S202 to continue collection according to the collection order; Step S208: If the column number of the current row and column collection point is greater than the maximum column number, all collection points are collected successfully, and the storage of the deep database of the collection points is completed.

[0009] Furthermore, the collection order in step S207 is: If the column number of the current row and column collection point is an odd column, the rows are collected in order from small to large until the row number of the collection point is the largest row number and then the next column is entered; If the column number of the current row and column collection point is an even column, the rows are collected in order from large to small until the row number of the collection point is the first row and then enters the next column.

[0010] Furthermore, in step S3, the first acquisition point is used as a reference point, and based on the depth of the first acquisition point, a compensation depth database of the acquisition points is established, specifically: Obtain the depth of other acquisition points, and based on the depth of the first acquisition point, calculate the difference between the depth of other acquisition points and the depth of the first acquisition point as the compensation value; If the difference between the depth of other acquisition points and the depth of the first acquisition point is positive, the compensation depth is positive; If the difference between the depth of the other acquisition points and the depth of the first acquisition point is negative, the compensation depth is negative.

[0011] Furthermore, in step S5, if it is determined that the machining process of the machining tool in the cutting system is an empty movement, the machining tool performs conventional machining.

[0012] Furthermore, in step S7, based on the current coordinate point of the machining tool during actual movement, combined with the compensation depth database of the acquisition point, the compensation depth of the current coordinate point is obtained according to the nonlinear compensation formula, specifically: Determine the row and column number of the closest collection point a based on the current coordinate point; Based on the row and column numbers of the acquisition point a, determine the remaining three acquisition points b, c and d around the current coordinate point; Get the compensation depths of acquisition points a, b, c, and d, and obtain the compensation depth of the current coordinate point according to the nonlinear compensation formula.

[0013] Furthermore, the nonlinear compensation formula is: D=X factor *Y factor *(H a +H c -H b -H d )+(1-X factor -Y factor )*H a +X factor *H b +Y factor *H d ; Where D is the compensation depth of the current coordinate point, X factor is the weight in the X direction, factor is the weight in the Y direction, H a is the compensation depth of acquisition point a, H b is the compensation depth of acquisition point b, H c is the compensation depth of acquisition point c, Hd is the compensation depth of acquisition point d.

[0014] The present invention has the following advantages: The present application establishes a matrix-type acquisition platform based on the processing platform of the knife-cutting system, marks acquisition points on the matrix-type acquisition platform, and obtains the row and column numbers of each acquisition point; based on the acquisition points marked on the matrix-type acquisition platform, detects the depth coordinates of each acquisition point and establishes a depth database of the acquisition points; takes the first acquisition point as a reference point, and establishes a compensation depth database of the acquisition points based on the depth of the first acquisition point; obtains all coordinate points passed by the processing tool in the knife-cutting system during the processing; determines whether the processing process of the processing tool in the knife-cutting system is real movement; based on the processing process of the processing tool in the knife-cutting system being real movement, obtains the current coordinate point of the processing tool during the real movement; based on the current coordinate point of the processing tool during the real movement, combined with the compensation depth database of the acquisition point, according to the nonlinear compensation formula, obtains the compensation depth of the current coordinate point; based on the compensation depth of the current coordinate point, drives the lifting axis to compensate the processing tool.

[0015] The present invention collects platform flatness data and automatically adjusts feed compensation as flatness changes when the tool passes through different XY coordinate areas of the platform during cutting. This technology can increase feed in recessed areas of the platform and reduce feed in raised areas, thereby effectively improving cutting accuracy and quality.

[0016] The present invention is applicable to the field of vibration knife processing, especially when processing on a processing platform with relatively large flatness deviation, when soft materials are laid flat on the table surface, they will stick to the table surface and cause the same unevenness. The height of the tool in the vertical direction can be adjusted to ensure that the tip of the tool is always in just contact with the table surface during the cutting movement process, thereby ensuring that the material can be cut through and the table surface will not be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0018] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0019] Figure 1 A flow chart of a method for adaptively controlling a tabletop of a knife cutting system provided by the present invention; Figure 2 A flow chart of establishing a deep database of acquisition points provided by the present invention; Figure 3 A schematic diagram of a matrix-type acquisition platform provided by the present invention; Figure 4 A schematic diagram of the current coordinate point and surrounding collection points in a matrix collection platform provided by the present invention; Figure 5 A schematic diagram of platform cutting before the knife depth is compensated provided by the present invention; Figure 6 This is a schematic diagram of platform cutting after compensating the knife depth provided by the present invention. DETAILED DESCRIPTION

[0020] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] A method for adaptive control of a knife cutting system table, such as Figure 1 As shown, the following steps are included: Step S1: Based on the processing platform of the knife-cutting system, a matrix-type acquisition platform is established, and acquisition points are marked on the matrix-type acquisition platform to obtain the row and column numbers of each acquisition point; Step S2: Based on the matrix-based acquisition of the collection points marked on the entire platform, the depth coordinates of each collection point are detected to establish a depth database of the collection points; Step S3: Taking the first acquisition point as a reference point and based on the depth of the first acquisition point, establishing a compensation depth database of the acquisition points; Step S4: Acquire all coordinate points that the machining tool in the cutting system passes through during the machining process; Step S5: determining whether the machining process of the machining tool in the cutting system is a real movement; Step S6: based on the fact that the machining process of the machining tool in the cutting system is real movement, obtaining the current coordinate point of the machining tool during the real movement; Step S7: based on the current coordinate point of the machining tool during actual movement, combined with the compensation depth database of the acquisition point, and according to the nonlinear compensation formula, the compensation depth of the current coordinate point is obtained; Step S8: Based on the compensation depth of the current coordinate point, drive the lifting axis to compensate the machining tool.

[0022] The present invention collects platform flatness data and automatically adjusts feed compensation as flatness changes when the tool passes through different XY coordinate areas of the platform during cutting. This technology can increase feed in recessed areas of the platform and reduce feed in raised areas, thereby effectively improving cutting accuracy and quality.

[0023] The present invention is applicable to the field of vibration knife processing, especially when processing on a processing platform with relatively large flatness deviation, when soft materials are laid flat on the table surface, they will stick to the table surface and cause the same unevenness. The height of the tool in the vertical direction can be adjusted to ensure that the tip of the tool is always in just contact with the table surface during the cutting movement process, thereby ensuring that the material can be cut through and the table surface will not be damaged.

[0024] like Figure 5 As shown, the platform has irregular depressions or bulges. If the tool cuts from left to right and remains at a fixed depth, the material being cut will also be depressed along with the platform at the depressed position, resulting in failure to completely cut through the material. At the bulged position, the tool may also scratch the table top.

[0025] like Figure 6 As shown, according to the present invention, the tool depth is adjusted according to the flatness of the platform, so that the tool compensates the tool depth feed according to the bulge or depression, thereby improving the processing effect. Specifically, the depth of the initial cutting point is selected as the reference point, and the tool cuts in different areas. Whether the plane is concave or convex depends on the reference point. The area that is lower than the reference point in level needs to increase the tool depth compensation, and the area that is higher than the reference point in level needs to subtract the tool depth compensation. The size of the compensation amount depends on the height difference with the reference point.

[0026] In step S1, the collection points are marked on the matrix collection platform to obtain the row and column numbers of each collection point, specifically: Get the X-axis width and Y-axis height of the matrix acquisition platform, and set the acquisition interval I; Based on the acquisition spacing I, the acquisition points are marked on the matrix acquisition platform; Based on the number of rows and columns of the collection point on the matrix collection platform, the row and column sequence numbers of the matrix collection platform are obtained.

[0027] like Figure 3 As shown, the matrix-type acquisition platform is marked with acquisition points according to the set acquisition spacing I, so that the acquisition points are marked on the matrix-type acquisition platform in the row and column direction. Specifically, a collection spacing I is set (i.e., how long is the interval for a collection point), and the number of rows and columns to be collected is obtained by dividing the X and Y format sizes by the acquisition spacing to perform array acquisition on the table.

[0028] In step S2, based on the matrix-based acquisition of the collection points marked on the entire platform, the depth coordinates of each collection point are detected, and a depth database of the collection points is established, such as Figure 2 As shown, specifically including: Step S201: Based on the matrix-based collection of row and column numbers of the entire platform, the depth of the collection point is detected starting from the first row and the first column; Step S202: the depth detection head moves to the collection point position of the corresponding row and column, and collects the depth of the collection point of the current row and column; Step S203: Determine whether the depth of the current row and column acquisition point is acquired successfully; Step S204: if the depth of the current row and column of acquisition points is not acquired successfully, return to step S202 to continue acquisition; Step S205: If the depth collection of the current row and column collection points is successful, proceed to the next step; Step S206: Determine whether the column number of the current row and column acquisition point is greater than the maximum column number; Step S207: if the column number of the current row and column collection point is less than the maximum column number, return to step S202 to continue collection according to the collection order; Step S208: If the column number of the current row and column collection point is greater than the maximum column number, all collection points are collected successfully, and the storage of the deep database of the collection points is completed.

[0029] The acquisition sequence in step S207 is: If the column number of the current row and column collection point is an odd column, the rows are collected in order from small to large until the row number of the collection point is the largest row number and then the next column is entered; If the column number of the current row and column collection point is an even column, the rows are collected in order from large to small until the row number of the collection point is the first row and then enters the next column.

[0030] The depth coordinates of each acquisition point will be obtained and stored in a data table. During processing and cutting, the depths of the four adjacent acquisition points are found in the matrix table based on the current XY coordinates of the tool as the index, and the depth of the current coordinate point is calculated through the weight ratio of the XY coordinates of the current coordinate point to the four adjacent acquisition points.

[0031] In step S3, the first acquisition point is used as a reference point, and based on the depth of the first acquisition point, a compensation depth database of the acquisition points is established, specifically: Obtain the depth of other acquisition points, and based on the depth of the first acquisition point, calculate the difference between the depth of other acquisition points and the depth of the first acquisition point as the compensation value; If the difference between the depth of other acquisition points and the depth of the first acquisition point is positive, the compensation depth is positive; If the difference between the depth of the other acquisition points and the depth of the first acquisition point is negative, the compensation depth is negative.

[0032] Based on the depth of the reference point, a compensation depth database for each acquisition point is established. That is, the compensation depth of the reference point is zero, and the depth coordinates of the remaining acquisition points are subtracted from the depth coordinates of the reference point. Points with positive results are lower than the reference point, and points with negative results are higher than the reference point. A positive compensation depth indicates that the machining tool continues to be driven downward at the original tool depth; a negative compensation depth indicates that the machining tool is retracted at the original tool depth.

[0033] In step S5, if it is determined that the machining process of the machining tool in the knife cutting system is an empty movement, the machining tool performs conventional machining. The movement of the lower knife cutting is a real movement (only real movement is compensated), and the movement of the knife not descending and moving to the XY coordinate point of the lower knife is an empty movement (empty movement does not require compensation).

[0034] In step S7, Figure 4 As shown, based on the current coordinate point P (X curr , Y curr ), combined with the compensation depth database of the acquisition point, according to the nonlinear compensation formula, the compensation depth of the current coordinate point P is obtained, specifically: Determine the row and column number of the closest collection point a based on the current coordinate point; Column number: H=X curr / I; Line number: L=Y curr / I; According to the row and column numbers of the acquisition point a, determine the X remaining amount and Y remaining amount of the current coordinate point P; X remaining amount: X surplus =X curr -(H*I); Y remaining amount: Y surplus =Y curr -(L*I); Based on the row and column numbers of the acquisition point a, determine the remaining three acquisition points b, c and d around the current coordinate point; Get the compensation depths of acquisition points a, b, c and d, and obtain the compensation depth D of the current coordinate point according to the nonlinear compensation formula.

[0035] The nonlinear compensation formula is: D=X factor *Y factor *(H a +H c -H b -H d )+(1-X factor -Y factor)*H a +X factor *H b +Y factor *H d ; Among them, X factor =X surplus / I;Y factor =Y surplus / I; Where D is the compensation depth of the current coordinate point, X factor is the weight in the X direction, factor is the weight in the Y direction, H a is the compensation depth of acquisition point a, H b is the compensation depth of acquisition point b, H c is the compensation depth of acquisition point c, H d is the compensation depth of acquisition point d.

[0036] The use process of the embodiment of the present invention is as follows: Assume that the width of the X axis is X max =2000mm, Y axis height is Y max =1000mm, set the collection interval I=50mm: Number of columns: 2000÷50=40 (actually one more column should be added to make it 41 columns).

[0037] Number of rows: 1000÷50=20 (actually one column should be added for 21 rows).

[0038] 1. First, the table surface needs to be collected. This step is performed during the machine adjustment stage. The depth of each point is detected according to the collection points formed by 21 rows and 41 columns.

[0039] 2. Use the first acquisition point as the reference point to regularize the table data, that is, the compensation of the reference point is zero, and the depth coordinates of the remaining acquisition points are subtracted from the depth coordinates of the reference point. The points with positive results are lower than the reference point, and the points with negative results are higher than the reference point. The larger the numerical difference, the greater the height difference. The compensated depth of each point is in the regularized data table.

[0040] 3. The movement of the machining process is divided into two parts: the movement of the actual machining trajectory (real movement) and the empty movement outside the trajectory (empty movement); it is determined that tool depth compensation is only required in the actual movement trajectory segment.

[0041] 4. Get the current coordinate point, calculate the compensation depth of the current coordinate point based on the XY coordinates of the four adjacent acquisition points from the current coordinate point and the nonlinear compensation formula.

[0042] The present invention collects platform flatness data and automatically adjusts feed compensation as flatness changes when the tool passes through different XY coordinate areas of the platform during cutting. This technology can increase feed in recessed areas of the platform and reduce feed in raised areas, thereby effectively improving cutting accuracy and quality.

[0043] The present invention is applicable to the field of vibration knife processing, especially when processing on a processing platform with relatively large flatness deviation, when soft materials are laid flat on the table surface, they will stick to the table surface and cause the same unevenness. The height of the tool in the vertical direction can be adjusted to ensure that the tip of the tool is always in just contact with the table surface during the cutting movement process, thereby ensuring that the material can be cut through and the table surface will not be damaged.

[0044] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A method for adaptive control of a cutting system table, characterized in that: The following steps are involved: Step S1: Based on the processing platform of the knife cutting system, a matrix-type acquisition platform is established, and acquisition points are marked on the matrix-type acquisition platform to obtain the row and column number of each acquisition point; Step S2: based on the collection points marked on the entire platform in the matrix collection, the depth coordinates of each collection point are detected to establish a depth database of the collection points; Step S3: Taking the first acquisition point as a reference point and based on the depth of the first acquisition point, establishing a compensation depth database of the acquisition points; Step S4: obtaining all coordinate points that the machining tool in the cutting system passes through during the machining process; Step S5: determining whether the machining process of the machining tool in the cutting system is a real movement; Step S6: based on the fact that the machining process of the machining tool in the cutting system is real movement, obtaining the current coordinate point of the machining tool during the real movement; Step S7: based on the current coordinate point of the machining tool during actual movement, combined with the compensation depth database of the acquisition point, and according to the nonlinear compensation formula, the compensation depth of the current coordinate point is obtained; Step S8: Based on the compensation depth of the current coordinate point, drive the lifting axis to compensate the machining tool.

2. The method for adaptively controlling a cutting system table according to claim 1, characterized in that: In step S1, the collection points are marked on the matrix collection platform to obtain the row and column numbers of each collection point, specifically: Get the X-axis width and Y-axis height of the matrix acquisition platform, and set the acquisition interval I; Based on the acquisition spacing I, the acquisition points are marked on the matrix acquisition platform; Based on the number of rows and columns of the collection point on the matrix collection platform, the row and column sequence numbers of the matrix collection platform are obtained.

3. The method for adaptively controlling a cutting system table according to claim 1, characterized in that: In the step S2, based on the acquisition points marked on the entire platform in the matrix acquisition, the depth coordinates of each acquisition point are detected, and a depth database of the acquisition points is established, which specifically includes: Step S201: Based on the matrix-based collection of row and column numbers of the entire platform, the depth of the collection point is detected starting from the first row and the first column; Step S202: the depth detection head moves to the acquisition point position of the corresponding row and column, and acquires the depth of the acquisition point of the current row and column; Step S203: Determine whether the depth of the current row and column acquisition point is acquired successfully; Step S204: if the depth of the current row and column of acquisition points is not acquired successfully, return to step S202 to continue acquisition; Step S205: If the depth collection of the current row and column collection points is successful, proceed to the next step; Step S206: Determine whether the column number of the current row and column acquisition point is greater than the maximum column number; Step S207: if the column number of the current row and column collection point is less than the maximum column number, return to step S202 to continue collection according to the collection order; Step S208: If the column number of the current row and column collection point is greater than the maximum column number, all collection points are collected successfully, and the storage of the deep database of the collection points is completed.

4. The method for adaptively controlling a cutting system table according to claim 3, characterized in that: The acquisition sequence in step S207 is: If the column number of the current row and column collection point is an odd column, the rows are collected in order from small to large until the row number of the collection point is the largest row number and then the next column is entered; If the column number of the current row and column collection point is an even column, the rows are collected in order from large to small until the row number of the collection point is the first row and then enters the next column.

5. The method for adaptively controlling a cutting system table according to claim 1, characterized in that: In step S3, the first acquisition point is used as a reference point, and based on the depth of the first acquisition point, a compensation depth database of acquisition points is established, specifically: Obtain the depth of other acquisition points, and based on the depth of the first acquisition point, calculate the difference between the depth of other acquisition points and the depth of the first acquisition point as the compensation value; If the difference between the depth of other acquisition points and the depth of the first acquisition point is positive, the compensation depth is positive; If the difference between the depth of the other acquisition points and the depth of the first acquisition point is negative, the compensation depth is negative.

6. The method for adaptively controlling a cutting system table according to claim 1, characterized in that: In the step S5, if it is determined that the machining process of the machining tool in the knife cutting system is an empty movement, the machining tool performs conventional machining.

7. The method for adaptively controlling a cutting system table according to claim 1, characterized in that: In step S7, based on the current coordinate point of the machining tool during actual movement, combined with the compensation depth database of the acquisition point, the compensation depth of the current coordinate point is obtained according to the nonlinear compensation formula, specifically: Determine the row and column number of the closest collection point a based on the current coordinate point; Based on the row and column numbers of the acquisition point a, determine the remaining three acquisition points b, c and d around the current coordinate point; Get the compensation depths of acquisition points a, b, c, and d, and obtain the compensation depth of the current coordinate point according to the nonlinear compensation formula.

8. The method for adaptively controlling a cutting system table according to claim 7, characterized in that: The nonlinear compensation formula is: D=X factor *Y factor *(H a +H c -H b -H d )+(1-X factor -Y factor )*H a +X factor *H b +Y factor *H d ; Where D is the compensation depth of the current coordinate point, X factor is the weight in the X direction, factor is the Y direction weight, H a is the compensation depth of acquisition point a, H b is the compensation depth of acquisition point b, H c is the compensation depth of acquisition point c, H d is the compensation depth of acquisition point d.

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