Interpolation method of workpiece profile curve, interpolation device and computing device

Abstract

The application discloses a kind of workpiece profile curve interpolation method, interpolation device and computing device, method includes: obtaining the current planning speed corresponding to current interpolation point parameter;Determine next interpolation point parameter according to current interpolation point parameter and current planning speed;According to current interpolation point parameter and next interpolation point parameter, determine the curve arc length of current interpolation point to next interpolation point;Actual error value between the curve arc length and current planning displacement is calculated, whether actual error value is less than predetermined error value is judged;If not less than predetermined error value, then next interpolation point parameter is used as new current interpolation point parameter, actual error value is used as new planning speed, to determine new next interpolation point parameter, and new actual error value is calculated, whether new actual error value is less than predetermined error value is judged;If less than predetermined error value, then according to next interpolation point parameter, determine next interpolation point coordinate.According to the technical scheme of the application, the interpolation accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of numerical control system, and in particular to a workpiece contour curve interpolation method, an interpolation device and a computing device. BACKGROUND

[0002] In the machining process of discrete line segments, in order to avoid the path axis from stopping machining, a transition curve is generally inserted at the corner according to the defined tolerance to achieve the smoothness of the machining trajectory. However, when interpolating the transition curve, the interpolation step calculated by the numerical control system is not accurate enough (there is an error between the interpolation step and the planning step of the Bezier curve), which will cause fluctuations in the machining speed, and further cause vibration of the servo drive shaft, thereby reducing the machining quality.

[0003] Therefore, there is a need for a workpiece contour curve interpolation method to solve the above technical problems. SUMMARY

[0004] Therefore, the present application provides a workpiece contour curve interpolation method and an interpolation device to solve or at least alleviate the above problems.

[0005] According to one aspect of the present application, a workpiece contour curve interpolation method is provided, which is executed in a computing device to determine one or more interpolation points on a contour curve of a workpiece during machining of the workpiece, the method comprising: obtaining a current planning speed corresponding to a current interpolation point parameter; determining a next interpolation point parameter according to the current interpolation point parameter and the current planning speed; determining a curve arc length from the current interpolation point to the next interpolation point according to the current interpolation point parameter and the next interpolation point parameter; calculating an actual error value between the curve arc length and a current planning displacement, and determining whether the actual error value is less than a predetermined error value; if not, then: taking the next interpolation point parameter as a new current interpolation point parameter, taking the actual error value as a new planning speed, determining a new next interpolation point parameter, calculating a new actual error value, and determining whether the new actual error value is less than the predetermined error value; if yes, then: determining a next interpolation point coordinate according to the next interpolation point parameter.

[0006] Optionally, in the workpiece contour curve interpolation method according to the present application, it further comprises: determining whether the interpolation is completed according to the next interpolation point coordinate; if not, then taking the next interpolation point parameter as a new current interpolation point parameter, and obtaining a new planning speed corresponding to the new current interpolation point parameter.

[0007] Optionally, in the interpolation method of the workpiece profile curve according to the application, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed, comprising: using the Taylor expansion formula, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed.

[0008] Optionally, in the interpolation method of the workpiece profile curve according to the application, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed, comprising: using the Taylor expansion formula, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed.

[0009] Optionally, in the interpolation method of the workpiece profile curve according to the application, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed, comprising: using the Taylor expansion formula, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed.

[0010] Optionally, in the interpolation method of the workpiece profile curve according to the application, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed, comprising: using the Taylor expansion formula, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed.

[0011] Optionally, in the interpolation method of the workpiece profile curve according to the application, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed, comprising: using the Taylor expansion formula, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed.

[0012] Optionally, in the interpolation method of the workpiece profile curve according to the application, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed, comprising: using the Taylor expansion formula, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed.

[0013] According to an aspect of the present application, there is provided an interpolation device residing in a computing device to determine one or more interpolation points on a profile curve of a workpiece during machining of the workpiece, wherein the device comprises an obtaining module, a determining module and a setting module; the obtaining module is adapted to obtain a current planning speed corresponding to a current interpolation point parameter; the determining module is adapted to determine a next interpolation point parameter according to the current interpolation point parameter and the current planning speed, determine a curve arc length from the current interpolation point to the next interpolation point according to the current interpolation point parameter and the next interpolation point parameter, calculate an actual error value between the curve arc length and a current planning displacement, and judge whether the actual error value is less than a predetermined error value; if the actual error value is not less than the predetermined error value, the setting module is adapted to take the next interpolation point parameter as a new current interpolation point parameter, take the actual error value as a new planning speed, determine a new next interpolation point parameter, calculate a new actual error value, and judge whether the new actual error value is less than the predetermined error value; if the new actual error value is less than the predetermined error value, the determining module is further adapted to determine a next interpolation point coordinate according to the next interpolation point parameter.

[0014] According to an aspect of the present application, there is provided a computing device comprising at least one processor, and a memory storing program instructions configured to be executed by the at least one processor, the program instructions comprising instructions for performing the interpolation method of a profile curve of a workpiece as described above.

[0015] According to an aspect of the present application, there is provided a readable storage medium storing program instructions, which, when read and executed by a computing device, cause the computing device to perform the interpolation method of a profile curve of a workpiece as described above.

[0016] According to the technical solution of the present application, there is provided an interpolation method of a profile curve of a workpiece, in which a next interpolation point parameter is determined according to a current interpolation point parameter and a current planning speed, then a curve arc length from the current interpolation point to the next interpolation point is determined according to the current interpolation point parameter and the next interpolation point parameter, an actual error value between the curve arc length and a current planning displacement is calculated, and it is judged whether the actual error value is less than a predetermined error value, according to which it is determined whether the interpolation accuracy requirement is met. If the accuracy requirement is not met, the next interpolation point parameter is taken as a new current interpolation point parameter, the actual error value is taken as a new planning speed, a new next interpolation point parameter is determined, and it is judged whether a new actual error value is less than the predetermined error value. If the accuracy requirement is met, a next interpolation point coordinate can be determined according to the next interpolation point parameter, so as to insert the next interpolation point on the profile curve of the workpiece. In this way, according to the interpolation scheme of the present application, the interpolation accuracy can be improved, the transition corner of the profile curve of the workpiece can be accurately interpolated, and the machining quality can be improved.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0018] To achieve the foregoing and related objectives, certain illustrative aspects are described herein in conjunction with the following description and accompanying drawings. These aspects indicate various ways in which the principles disclosed herein may be practiced, and all aspects and their equivalents are intended to fall within the scope of the claimed subject matter. The foregoing and other objectives, features, and advantages of this disclosure will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings. Throughout this disclosure, the same reference numerals generally refer to the same parts or elements.

[0019] Figure 1 A schematic diagram of a computing device 100 according to an embodiment of the present invention is shown;

[0020] Figure 2 A flowchart of a workpiece contour curve interpolation method 200 according to an embodiment of the present invention is shown.

[0021] Figure 3 A schematic diagram of an interpolation apparatus 300 according to an embodiment of the present invention is shown. Detailed Implementation

[0022] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0023] Figure 1 A schematic diagram of a computing device 100 according to an embodiment of the present invention is shown. Figure 1 As shown, in a basic configuration, computing device 100 includes at least one processing unit 102 and system memory 104. According to one aspect, depending on the configuration and type of the computing device, the processing unit 102 may be implemented as a processor. System memory 104 includes, but is not limited to, volatile memory (e.g., random access memory), non-volatile memory (e.g., read-only memory), flash memory, or any combination of such memory. According to one aspect, system memory 104 includes an operating system 105.

[0024] According to an aspect, the operating system 105 is suitable for controlling the operation of the computing device 100, for example. Furthermore, examples are practiced in conjunction with a graphics library, other operating systems, or any other application program, and are not limited to any particular application or system. In Figure 1 This basic configuration is illustrated in FIG. 1 by those components within the dashed line. According to an aspect, the computing device 100 has additional features or functionality. For example, according to an aspect, the computing device 100 includes additional data storage devices (removable and / or non-removable) such as, for example, magnetic disks, optical disks, or tape. Such additional storage is illustrated in FIG. 1 by removable storage 109 and non-removable storage 110. Figure 1

[0025] As stated above, according to an aspect, a program module 103 is stored in the system memory 104, in accordance with an aspect. According to an aspect, the program modules 103 can include one or more application programs, the application programs of which the application does not limit the type, for example, the application programs can include: email and contact application programs, word processing application programs, spreadsheet application programs, database application programs, slide show application programs, drawing or computer-aided application programs, web browser application programs, etc.

[0026] According to an aspect, the program modules 103 can include an interpolation device 300, the interpolation device 300 comprising a plurality of program instructions suitable for executing the interpolation method 200 of the workpiece profile curve of the application, by executing the interpolation method 200 of the workpiece profile curve of the application, the intersection or tangency of two planar graphs can be quickly determined, so as to improve the efficiency and utilization of laser planar layout.

[0027] According to an aspect, examples can be practiced with electronic circuits comprising discrete electronic elements, packaged or integrated electronic chips containing logic gates, a circuit utilizing a microprocessor, or by implementing the examples on a single chip, containing electronic elements or microprocessors. For example, examples can be practiced via a system-on-a-chip (SOC) where each or several system components, such as a Figure 1 ​Each or many of the components illustrated in FIG. 1 can be practiced on a system-on-a-chip (SOC) integrated on a single integrated circuit in accordance with examples. According to one aspect, such an SOC device can include one or more processing units, graphics units, communications units, system virtualization units, and various application functionality all of which are integrated (or "burned") onto the chip substrate according to an embodiment. When operating via an SOC, the functionality described herein can be operated via application-specific logic integrated with other components of the computing device 100 on the single integrated circuit (chip). Embodiments of the application can also be practiced using other technologies that now exist or are developed in the future, including, but not limited to, mechanical, optical, fluidic, and quantum technologies. In addition, embodiments of the application can be practiced within a general computer system or in any other circuits or systems.

[0028] According to one aspect, the computing device 100 can also have one or more input device(s) 112 such as a keyboard, a mouse, a pen, a voice input device, a touch input device, etc. Output device(s) 114 such as a display, speakers, a printer, etc. can also be included. The aforementioned devices are examples and others can be used. The computing device 100 can include one or more communication connections 116 allowing communications with other computing devices 118. Examples of suitable communication connections 116 include, but are not limited to: RF transmitter, receiver, and / or transceiver circuitry; universal serial bus (USB), parallel, and / or serial ports.

[0029] The term computer readable media as used herein includes computer storage media. Computer storage media can include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, or program modules 103. The system memory 104, the removable storage device 109, and the non-removable storage device 110 are all computer storage media examples (i.e., memory storage.) Computer storage media can include Random Access Memory (RAM), Read-Only Memory (ROM), Electronically Erasable Programmable Read-Only Memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store information and which can be accessed by computing device 100. According to one aspect, any such computer storage media can be part of the computing device 100. Computer storage media does not include a modulated data signal or other propagated data signal.

[0030] According to an aspect, communication media is embodied by computer readable instructions, data structures, program modules 103, or other data by modulated data signals, such as carrier waves or other transport mechanisms, and includes any information delivery media. According to an aspect, the term "modulated data signal" describes a signal that has one or more characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, radio frequency (RF), infrared, and other wireless media.

[0031] In an embodiment according to the present application, the computing device 100 is configured to perform the interpolation method 200 of the workpiece profile curve according to the present application. The computing device 100 comprises one or more processors, and one or more readable storage media storing program instructions which, when configured to be executed by the one or more processors, cause the computing device 100 to perform the interpolation method 200 of the workpiece profile curve in an embodiment of the present application. The computing device 100 performs the interpolation method 200 of the workpiece profile curve according to the present application so as to determine one or more interpolation points on the profile curve of the workpiece (at the transition corner) in the process of machining the workpiece, to achieve smooth transition of the machining trajectory of the workpiece. The interpolation method 200 of the workpiece profile curve according to the present application can improve interpolation accuracy, achieve accurate interpolation of the transition corner of the workpiece profile curve, and further improve machining quality.

[0032] In an embodiment of the present application, the profile curve of the workpiece is the ideal machining trajectory. The profile curve of the workpiece can be a spline curve, which refers to a curve obtained by giving a set of control points, and the general shape of the curve can be controlled by these control points. For example, in an implementation, the profile curve of the workpiece can be a Bezier curve.

[0033] According to an embodiment of the present application, the computing device 100 can comprise a numerical control system. The interpolation device 300 is deployed in the computing device 100, and the interpolation device 300 is configured to perform the interpolation method 200 of the workpiece profile curve according to the present application. The interpolation device 300 contains a plurality of program instructions for performing the interpolation method 200 of the workpiece profile curve according to the present application, and these program instructions can instruct the processor to perform the interpolation method 200 of the workpiece profile curve according to the present application.

[0034] Figure 2 A flowchart of the interpolation method 200 of the workpiece profile curve according to an embodiment of the present application is shown. The interpolation method 200 of the workpiece profile curve is suitable for being executed in a computing device (such as the aforementioned computing device 100).

[0035] As Figure 2As shown, the method 200 starts from step 210.

[0036] Firstly, in step 210, a current planning speed corresponding to the current interpolation point parameter a is obtained.

[0037] According to one embodiment of the present application, a speed planning module can be invoked to obtain the current planning speed corresponding to the current interpolation point parameter. It should be noted that the tool speed is different at different interpolation points, and the speed planning module can determine the tool speed (the current planning speed) corresponding to the current interpolation point parameter.

[0038] In one embodiment, before step 210 is performed, a feature parameter (i.e., a parameter representing the profile curve) of the profile curve can be obtained. The feature parameter includes, for example, a predetermined error value n, a control point, a start point parameter and an end point parameter of the profile curve. Subsequently, the current interpolation point parameter a and calculation data can be initialized.

[0039] Subsequently, in step 220, a next interpolation point parameter (i.e., a coarse interpolation point parameter) is determined according to the current interpolation point parameter a and the current planning speed.

[0040] In one embodiment, the Taylor expansion formula can be used to determine the next interpolation point parameter according to the current interpolation point parameter and the current planning speed. The specific calculation formula will be described in detail below.

[0041] Then, in step 230, a curve arc length from the current interpolation point to the next interpolation point is determined according to the current interpolation point parameter a and the next interpolation point parameter b.

[0042] Next, in step 240, an actual error value between the curve arc length and a current planning displacement is calculated, and it is determined whether the actual error value is less than the predetermined error value. Here, the current planning displacement is a current interpolation step length determined according to the current planning speed (the speed of the tool at the current interpolation point) and an interpolation period. The current planning displacement = the current planning speed * the interpolation period. The predetermined error value is used to determine whether the next interpolation point meets the interpolation accuracy requirement.

[0043] If the actual error value is not less than the predetermined error value (does not meet the interpolation accuracy requirement), step 250 is performed: the next interpolation point parameter b is taken as a new current interpolation point parameter, and the actual error value is taken as a new planning speed. Subsequently, steps 220-240 (secondary interpolation process) are performed based on the new current interpolation point parameter and the new planning speed to determine a new next interpolation point parameter (i.e., a fine interpolation point parameter) and calculate a new actual error value, and it is determined whether the new actual error value is less than the predetermined error value.

[0044] Specifically, the quadratic interpolation process is as follows: in step 220, a new next interpolation point parameter is determined according to the new current interpolation point parameter b and the new planning speed (actual error value); in step 230, a new curve arc length from the new current interpolation point to the new next interpolation point is determined according to the new current interpolation point parameter and the new next interpolation point parameter; in step 240, a new actual error value between the new curve arc length and the new planning displacement (i.e., a new interpolation step length determined according to the new planning speed and the interpolation period) is calculated, and it is determined whether the new actual error value is less than the predetermined error value.

[0045] If the actual error value determined in step 240 is less than the predetermined error value (satisfying the interpolation accuracy requirement), step 260 is performed.

[0046] In step 260, a next interpolation point coordinate is determined according to the next interpolation point parameter b. Specifically, the next interpolation point coordinate can be determined according to the next interpolation point parameter and the contour curve equation (substituting the next interpolation point parameter into the contour curve equation). In this way, the next interpolation point can be inserted on the workpiece contour curve according to the next interpolation point coordinate.

[0047] Here, after the next interpolation point coordinate is determined, the current interpolation point parameter a can be updated to the next interpolation point parameter b, i.e., the updated current interpolation point parameter is recorded for use in the next interpolation.

[0048] In addition, as shown in the method 200 of the present application, after the next interpolation point coordinate is determined, the following step 270 can also be performed. Figure 2

[0049] In step 270, it is determined whether the interpolation is completed according to the next interpolation point coordinate.

[0050] If the interpolation is not completed, step 280 is performed: the next interpolation point parameter is taken as the new current interpolation point parameter. Then, it returns to step 210 to perform the above method process (including steps 210-280) again. Here, it returns to step 210, i.e., the new planning speed corresponding to the new current interpolation point parameter is obtained. Then, steps 220-280 are performed according to the new current interpolation point parameter and the new planning speed, which will not be described again.

[0051] According to an embodiment of the present application, in step 270, when it is determined whether the interpolation is completed according to the next interpolation point coordinate, it can be specifically determined whether the planning speed is completed or the interpolation path is completed according to the next interpolation point coordinate. If it is determined that the planning speed is completed or the interpolation path is completed, it is determined that the interpolation is completed. Otherwise, it is determined that the interpolation is not completed.

[0052] ​In addition, when determining whether the interpolation is completed according to the next interpolation point coordinate, it can be first determined whether the next interpolation point parameter is greater than or equal to the end point parameter. If the next interpolation point parameter is greater than or equal to the end point parameter, it can be determined that the interpolation is completed. If the next interpolation point parameter is less than the end point parameter, it can be further determined whether the interpolation is completed according to the next interpolation point coordinate in the manner of determining whether the planned speed is completed or the interpolation path is completed.

[0053] According to an embodiment of the present application, the profile curve of the workpiece can be implemented as an n-th order Bezier curve, for example, and the n-th order Bezier curve equation can be expressed as the following formula (1):

[0054]

[0055] In formula (1), the geometric coefficient P i =(x i ,y i ,z i ) is the base function B i,n (u) is an n-th order Bernstein polynomial, which can be defined as the following formula (2):

[0056]

[0057] It should be noted that the interpolation of the Bezier curve can be a process of calculating the next interpolation point coordinate of the curve in a way of approximating an arc line by a chord line according to the curve equation and the information of the current interpolation point. Specifically, assuming that C(u) is a Bezier curve, u is an interpolation point parameter, the current interpolation point is P i =(x i ,y i ,z i ) = C(u i ), the next interpolation point is P i+1 =(x i+1 ,y i+1 ,z i+1 ) = C(u i+1 ), the tool speed (i.e., the current planned speed) of the tool at the current interpolation point P i is v i , and the interpolation period is T, the interpolation step can be expressed as the following formula (3):

[0058] l i =v i T = ‖C(u i+1 )-C(u i )‖ = ‖P i P i+1 ‖ (3)

[0059] From the point P i to the point Pi+1 the curve length L i may be expressed as the following equation (4):

[0060]

[0061] The ideal chord length (interpolation step) approximates the curve length, i.e.: i = L i .

[0062] To calculate the next interpolation point coordinate, the interpolation point parameter u can be regarded as a function of time, and then a Taylor expansion formula is used to perform a second-order Taylor expansion of the interpolation point parameter u with respect to time t at u i , the parameter of the next interpolation point can be expressed as the following equation (5):

[0063]

[0064] The velocity on the curve C(u) can be expressed as the following equation (6):

[0065]

[0066] The tangent rate thereof can be expressed as the following equation (7):

[0067]

[0068] After the above equation is arranged, the following equation (8) is obtained:

[0069]

[0070] Then, derivation with respect to time t is performed on the above equation (8) to obtain the following equation (9):

[0071]

[0072] Subsequently, equation (9) is substituted into the above Taylor expansion of u (5) to obtain the next interpolation point parameter u i+1 .

[0073] Finally, the next interpolation point parameter u i+1 is substituted into the curve equation C(u) to calculate the next interpolation point coordinate, as shown in the following equation (10).

[0074] P i+1 = (x i+1 , y i+1 , z i+1 ) = C(u i+1 ) (10)

[0075] According to the above calculation process, it can be understood that there is a nonlinear relationship between the parameters of the Bezier curve and the curve arc length, and therefore there will be a truncation error, making it difficult to calculate the accurate value of the next interpolation point parameter. Although the more the number of terms of the Taylor expansion, the smaller the error, but the amount of calculation will increase at the same time. Considering the real-time performance of the interpolation, more terms of the Taylor expansion cannot be used. Therefore, in an embodiment of the present application, a numerical integration method can be used to calculate the arc length to compensate and correct to achieve the ideal interpolation state.

[0076] Specifically, a complex Simpson formula can be used to calculate the curve arc length. The Simpson formula is a commonly used numerical integration method, also known as the parabolic formula. Its expression is shown in the following formula (11):

[0077]

[0078] In formula (11), f represents the curve equation, a and b represent the starting parameter value (the current interpolation point parameter value) and the ending parameter value (the next interpolation point parameter value) of the curve, respectively.

[0079] The complex Simpson formula is used to divide the interval [a, b] into n equal parts, and x The Simpson formula is applied to each interval [x i , x i+1 ], as shown in the following formula (12):

[0080]

[0081] Wherein,

[0082] The error value can be expressed as formula (13) as follows:

[0083]

[0084] When the error value E is less than the predetermined error value c, the length at this time is the approximate curve arc length.

[0085] For the Bezier curve C(u) = [x(u) y(u) z(u)], the following formula (14) is obtained by taking the differential:

[0086] dC(u) = [dx(u) dy(u) dz(u)] (14)

[0087] Let the curve arc length be s, and the differential formula of the arc length is formula (15) as follows:

[0088] ds 2 = dp 2 = dx 2 + dy 2 + dz2 = C'(u) · C'(u) (15)

[0089] The formula (15) can be arranged as the following formula (16):

[0090]

[0091] That is, the derivation of the Simpson formula is After the start point parameter value a and the end point parameter value b, the equidivision number n and the allowed error range (determined according to the predetermined error value) are known, the Simpson formula is substituted into the complexification, and the curve arc length meeting the error range can be solved.

[0092] According to the interpolation method 200 of the workpiece profile curve, the next interpolation point parameter is determined according to the current interpolation point parameter and the current planning speed, and then the curve arc length from the current interpolation point to the next interpolation point is determined according to the current interpolation point parameter and the next interpolation point parameter. The actual error value between the curve arc length and the current planning displacement is calculated to determine whether the actual error value is less than the predetermined error value, and the interpolation accuracy requirement is determined accordingly. In the case of not meeting the accuracy requirement, the next interpolation point parameter is taken as the new current interpolation point parameter, the actual error value is taken as the new planning speed, the new next interpolation point parameter is determined, and the new actual error value is determined. If the accuracy requirement is met, the next interpolation point coordinate is determined according to the next interpolation point parameter, so as to insert the next interpolation point on the workpiece profile curve. In this way, according to the interpolation scheme of the present application, the interpolation accuracy can be improved, the transition corner of the workpiece profile curve can be accurately interpolated, and the machining quality can be improved.

[0093] Figure 3 A schematic diagram of an interpolation device 300 according to an embodiment of the present application is shown. The interpolation device 300 resides in the computing device 100. The interpolation device 300 can be configured to perform the interpolation method 200 of the workpiece profile curve of the present application to determine one or more interpolation points on the workpiece profile curve during the machining of the workpiece.

[0094] As shown in Figure 3 The interpolation device 300 includes an acquisition module 310, a determination module 320 and a setting module 330 connected in sequence and in communication.

[0095] The acquisition module 310 is adapted to acquire the current planning speed corresponding to the current interpolation point parameter.

[0096] The determining module 320 is adapted to: determine a next interpolation point parameter according to the current interpolation point parameter and the current planning speed; determine a curve arc length from the current interpolation point to the next interpolation point according to the current interpolation point parameter and the next interpolation point parameter; calculate an actual error value between the curve arc length and the current planning displacement; and determine whether the actual error value is less than a predetermined error value.

[0097] If the actual error value is not less than the predetermined error value, the setting module 330 is adapted to: set the next interpolation point parameter as a new current interpolation point parameter, set the actual error value as a new planning speed, determine a new next interpolation point parameter, calculate a new actual error value, and determine whether the new actual error value is less than the predetermined error value.

[0098] If the actual error value is less than the predetermined error value, the determining module 320 is further adapted to: determine a next interpolation point coordinate according to the next interpolation point parameter; and determine whether the interpolation is completed according to the next interpolation point coordinate.

[0099] If the interpolation is not completed, the setting module 330 is further adapted to: set the next interpolation point parameter as a new current interpolation point parameter, and obtain a new planning speed corresponding to the new current interpolation point parameter.

[0100] It should be noted that the obtaining module 310 is used to perform the aforementioned step 210, the determining module 320 is used to perform the aforementioned steps 220-240 and 260-270, and the setting module 330 is used to perform the aforementioned steps 250 and 280. Here, the specific execution logic of the obtaining module 310, the determining module 320, and the setting module 330 can refer to the description in the method 200 above, and will not be described here again.

[0101] The various techniques described herein can be implemented in connection with hardware or software or, where appropriate, with a combination of both. Thus, the methods and apparatus of the present application, or certain aspects or portions thereof, can take the form of program code (i.e., instructions) embodied in tangible media, such as removable hard disks, USB flash drives, floppy diskettes, CD-ROMs, ROM or RAM devices, or any other machine-readable storage mediums, wherein, when the program code is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the subject application.

[0102] Where a program code is executed on a programmable computer, the mobile terminal generally includes a processor, a processor-readable storage medium (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. The memory is configured to store program code; the processor is configured to execute instructions in the program code stored in the memory to perform the interpolation method of the workpiece contour curve of the present application.

[0103] By way of example, and not limitation, a readable medium can include a readable storage medium and a communication medium. A readable storage medium stores information such as computer readable instructions, data structures, program modules or other data. A communication medium conveys information such as computer readable instructions, data structures, program modules or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and includes any information delivery media. Combinations of the any of the above are also included within the scope of readable media.

[0104] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order to not obscure the understanding of this description.

[0105] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order to not obscure the understanding of this description.

[0106] Similarly, it is to be understood that the above description is one example of inventive aspects of the application and that not all of these aspects of the application necessarily have to be used in order to practice the application.

[0107] Those skilled in the art will understand that the modules, or units, or components of the devices in the examples disclosed herein can be arranged in a device as described in the examples, or alternatively can be located in one or more devices different from the devices in the examples. The modules in the foregoing examples can be combined into one module or further divided into multiple sub-modules.

[0108] Those skilled in the art will understand that the modules in the devices in the examples can be adaptively changed and disposed in one or more devices different from the examples. The modules or units or components in the examples can be combined into one module or unit or component, and further can be divided into multiple sub-modules or sub-units or sub-components.

[0109] Further, those skilled in the art will understand that although some of the examples described herein include certain features that are not included in other examples, combinations of the features of the different examples are contemplated to be within the scope of the application and form different examples.

[0110] Furthermore, some of the embodiments described herein are of a "method" or a "process" that can be embodied in software, firmware or both, and that is performed by a computer system that "includes a processor" that executes instructions. A computer process typically consists of instructions that implement the desired functionality.

[0111] As used herein, unless otherwise indicated, the use of the ordinal adjectives "first", "second", "third" and so on, merely to distinguish different instances of an object and does not imply a time, spatial, ordinal, or any other relationship or order between the objects. As used herein, the use of the indefinite articles "a" and "an" to describe quantities, items, elements or components can be taken to mean one or more than one unless otherwise indicated.

[0112] Although the present application has been described in connection with limited number of embodiments, it will be evident for a person skilled in the art that many more embodiments are conceivable without departing from the scope of the application as described by the claims. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes and can not have been selected to expressly convey all essential subject matter of the application.

Claims

1. A method for interpolating a workpiece contour curve, executed in a computing device, to determine one or more interpolation points on the contour curve of the workpiece during workpiece machining, the method comprising: Get the current planned speed corresponding to the current interpolation point parameters; Determine the parameters of the next interpolation point based on the current interpolation point parameters and the current planned speed; Based on the current interpolation point parameters and the next interpolation point parameters, determine the curve arc length from the current interpolation point to the next interpolation point; Calculate the actual error value between the arc length of the curve and the current planned displacement, and determine whether the actual error value is less than the predetermined error value; If the error is less than the predetermined error value, the coordinates of the next interpolation point are determined according to the next interpolation point parameters. If the error is not less than the predetermined error value, the next interpolation point parameter is used as the new current interpolation point parameter, and the actual error value is used as the new planning speed to determine the new next interpolation point parameter, calculate the new actual error value, and determine whether the new actual error value is less than the predetermined error value.

2. The method as described in claim 1, wherein, Also includes: Based on the coordinates of the next interpolation point, determine whether interpolation is complete; If interpolation is not completed, the next interpolation point parameter is used as the new current interpolation point parameter, and the new planning speed corresponding to the new current interpolation point parameter is obtained.

3. The method as described in claim 1, wherein, Based on the current interpolation point parameters and the current planned speed, determine the parameters for the next interpolation point, including: Using the Taylor expansion formula, the parameters of the next interpolation point are determined based on the current interpolation point parameters and the current planning speed.

4. The method according to any one of claims 1-3, wherein, Based on the next interpolation point parameters, the coordinates of the next interpolation point are determined, including: The coordinates of the next interpolation point are determined based on the parameters of the next interpolation point and the equation of the contour curve.

5. The method of claim 2, wherein, Based on the coordinates of the next interpolation point, determine whether interpolation is complete, including: Based on the coordinates of the next interpolation point, determine whether the planned speed has been obtained, or whether the interpolation path has been obtained. If it is determined that the planned speed acquisition or the interpolation path acquisition is complete, then the interpolation is considered complete.

6. The method as described in claim 2 or 5, wherein, Determining whether interpolation is complete based on the coordinates of the next interpolation point also includes: Determine whether the next interpolation point parameter is greater than or equal to the endpoint parameter; If the result is greater than or equal to the endpoint parameter, then the interpolation is considered complete.

7. The method according to any one of claims 1-3, wherein, Obtain the current planned speed corresponding to the current interpolation point parameters, including: Call the speed planning module to obtain the current planned speed corresponding to the current interpolation point parameters.

8. An interpolation device residing in a computing device for determining one or more interpolation points on the contour curve of a workpiece during machining, wherein, The device includes: an acquisition module, a determination module, and a setting module; The acquisition module is adapted to: acquire the current planned speed corresponding to the current interpolation point parameters; The determining module is adapted to: determine the parameters of the next interpolation point based on the current interpolation point parameters and the current planned speed; determine the curve arc length from the current interpolation point to the next interpolation point based on the current interpolation point parameters and the next interpolation point parameters; calculate the actual error value between the curve arc length and the current planned displacement; and determine whether the actual error value is less than a predetermined error value. If the error is less than the predetermined error value, the determining module is further adapted to: determine the coordinates of the next interpolation point based on the next interpolation point parameters; If the error is not less than the predetermined error value, the setting module is adapted to: use the next interpolation point parameter as the new current interpolation point parameter, use the actual error value as the new planning speed, determine the new next interpolation point parameter, calculate the new actual error value, and determine whether the new actual error value is less than the predetermined error value.

9. A computing device, comprising: At least one processor; as well as A memory storing program instructions, wherein the program instructions are configured to be executed by the at least one processor, the program instructions including instructions for performing the method as described in any one of claims 1-7.

10. A readable storage medium storing program instructions that, when read and executed by a computing device, cause the computing device to perform the method as described in any one of claims 1-7.

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