A trajectory interpolation method, device, equipment and computer readable storage medium

Abstract

The application is suitable for the dispensing technical field, and provides a trajectory interpolation method, device, equipment and computer readable storage medium. The method comprises the following steps: in the case that a five-axis equipment is in a preset posture, template positioning is performed on a product, template data of N guide points, template data of each interpolation point, and a corresponding relationship between the N guide points and each interpolation point are determined; N is a positive integer smaller than M, and M is the total number of interpolation points in a to-be-interpolated trajectory; in the case that the five-axis equipment is in the preset posture, machining positioning is performed on the product, positioning data of the N guide points are determined; according to the template data of the N guide points, the positioning data of the N guide points, the corresponding relationship between the N guide points and each interpolation point, and the structural characteristics of the five-axis equipment, a deviation value corresponding to each interpolation point in the to-be-interpolated trajectory is determined; and according to the deviation value corresponding to each interpolation point in the to-be-interpolated trajectory and the template data of each interpolation point, positioning data of each interpolation point is determined.

Description

Technical Field

[0001] This application belongs to the field of dispensing technology, and particularly relates to a trajectory interpolation method, apparatus, device and computer-readable storage medium. Background Technology

[0002] When a five-axis machine applies adhesive to the surface or interior of a product workpiece, it requires vision or laser guidance to apply the adhesive along a preset dispensing trajectory.

[0003] In existing technologies, since the dispensing trajectory changes in real time, each interpolation point on the preset dispensing trajectory needs to be used as a guide point for vision or laser guidance. However, guiding each guide point will increase the processing time of the product workpiece and affect the processing efficiency. Furthermore, when guiding the back of the product workpiece or the internal gaps of the product, the five-axis equipment needs to be deflected at a large angle. However, due to the obstruction of the five-axis equipment or the product workpiece, the guide point cannot be observed by vision or laser, so the compensation of that point must be abandoned, resulting in a decrease in the accuracy of the interpolation trajectory. Summary of the Invention

[0004] This application provides a trajectory interpolation method, apparatus, device, and computer-readable storage medium, which can solve the problem of guiding each interpolation point, which increases the processing time of the product workpiece and affects processing efficiency.

[0005] In a first aspect, embodiments of this application provide a trajectory interpolation method applied to a five-axis device, the method comprising:

[0006] With the five-axis equipment in a preset posture, the product is template-positioned to determine the template data of N guide points, the template data of each interpolation point, and the correspondence between the N guide points and each interpolation point; N is a positive integer less than M, and M is the total number of interpolation points in the trajectory to be interpolated;

[0007] With the five-axis equipment in a preset posture, the product is machined and positioned to determine the positioning data of N guide points;

[0008] Based on the template data of N guide points, the positioning data of N guide points, the correspondence between N guide points and each interpolation point, and the structural characteristics of the five-axis equipment, determine the deviation value corresponding to each interpolation point in the trajectory to be interpolated;

[0009] Based on the deviation value corresponding to each interpolation point in the trajectory to be interpolated and the template data of each interpolation point, the positioning data of each interpolation point is determined.

[0010] The trajectory interpolation method provided in the first aspect guides the trajectory to be interpolated by using guide points that are fewer than the total number of interpolation points in the trajectory to be interpolated. This eliminates the need to guide each interpolation point in the trajectory, reducing the workload of vision or laser guidance, reducing processing time, and improving processing efficiency.

[0011] In one possible implementation of the first aspect, based on template data of N guide points, positioning data of N guide points, the correspondence between the N guide points and each interpolation point, and the structural characteristics of the five-axis device, the deviation value corresponding to each interpolation point in the trajectory to be interpolated is determined, including:

[0012] Based on the template data and positioning data of N guide points, determine the difference between the template data and the positioning data of each guide point in the N guide points, and use it as the deviation value corresponding to each guide point in the N guide points;

[0013] Based on the deviation value corresponding to each of the N guide points, the correspondence between the N guide points and each interpolation point, and the structural characteristics of the five-axis equipment, the deviation value corresponding to each interpolation point in the trajectory to be interpolated is determined.

[0014] In this implementation, firstly, based on the template data and positioning data of the N guide points, the deviation value corresponding to each of the N guide points is determined. Then, using the deviation value corresponding to each of the N guide points, the correspondence between the N guide points and each interpolation point, and the structural characteristics of the five-axis device, the deviation value corresponding to each interpolation point in the trajectory to be interpolated is determined. Thus, when guiding the trajectory to be interpolated through the N guide points, the deviation value corresponding to each interpolation point in the trajectory to be interpolated can be determined by calculation. The method for determining the deviation value corresponding to each interpolation point in the trajectory to be interpolated is specifically explained.

[0015] In one possible implementation of the first aspect, the deviation value corresponding to each interpolation point in the trajectory to be interpolated is determined based on the deviation value corresponding to each of the N guide points, the correspondence between the N guide points and each interpolation point, and the structural characteristics of the five-axis device. This includes: when the correspondence between the N guide points and each interpolation point includes one guide point corresponding to one interpolation point, the deviation value corresponding to the interpolation point corresponding to the one guide point is determined based on the deviation value corresponding to the one guide point and the structural characteristics of the five-axis device; when the correspondence between the N guide points and each interpolation point includes two guide points corresponding to one interpolation point, the deviation value corresponding to the interpolation point corresponding to the two guide points is determined based on the deviation values ​​corresponding to the two guide points and the structural characteristics of the five-axis device.

[0016] In this implementation, an interpolation point can correspond to a different number of guide points. The deviation value corresponding to an interpolation point can be determined based on the deviation value corresponding to one guide point or the deviation values ​​corresponding to two guide points.

[0017] In one possible implementation of the first aspect, the preset attitude includes an initial attitude. In this implementation, when the five-axis device is in the initial attitude for positioning, there are fewer interference points, making the determined guide point more stable, the imaging effect better, and the data of the determined guide point more accurate.

[0018] In one possible implementation of the first aspect, the template data for the N guide points includes: position data of the N guide points and / or angle data of the N guide points, and the template data for each interpolation point includes: position data of each interpolation point and / or angle data of each interpolation point.

[0019] In one possible implementation of the first aspect, the template data of each of the N guide points is greater than -1 and less than 1. In this implementation, since there are interfering points in the five-axis device, which can affect the template data of the guide points, the template data of each of the N guide points is filtered to exclude guide points with template data that are too large or too small, and the template data of the N guide points that meet the conditions are determined, thereby improving the accuracy of trajectory interpolation.

[0020] In one possible implementation of the first aspect, the deviation value corresponding to each of the N guide points is greater than -1 and less than 1. In this implementation, since there are interfering points in the five-axis device, which affect the positioning data of the guide points and thus the deviation values ​​corresponding to them, the deviation values ​​corresponding to each of the N guide points are filtered to exclude guide points with excessively large or small deviation values, thereby determining the deviation values ​​corresponding to the N guide points that meet the conditions, thus improving the accuracy of trajectory interpolation.

[0021] Secondly, embodiments of this application provide a trajectory interpolation apparatus, comprising: a unit for performing the steps of the method as described in any of the embodiments of the first aspect above.

[0022] Thirdly, embodiments of this application provide a trajectory interpolation device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any of the embodiments of the first aspect above.

[0023] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program or instructions that, when read and executed by a computer, cause the computer to perform the steps of the method as described in any of the embodiments of the first aspect above.

[0024] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the trajectory interpolation method described in any one of the first aspects.

[0025] In a sixth aspect, embodiments of this application provide a chip, including: a processor, configured to call and run a computer program from a memory, causing a trajectory interpolation device on which the chip is mounted to perform the method described in any of the embodiments of the first aspect above.

[0026] It is understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic flowchart of a trajectory interpolation method provided in an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the process of template positioning using a five-axis device according to an embodiment of this application;

[0030] Figure 3 This is a schematic diagram of the machining positioning process of a five-axis device provided in an embodiment of this application;

[0031] Figure 4 This is a schematic diagram of the trajectory interpolation device provided in one embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the internal structure of a trajectory interpolation device provided in an embodiment of this application. Detailed Implementation

[0033] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0034] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0035] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0036] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0037] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0039] The trajectory interpolation method in the embodiments of this application will be described exemplarily below with reference to the accompanying drawings.

[0040] refer to Figure 1 , Figure 1 The diagram shown is a schematic flowchart of the trajectory interpolation method provided in this application. As an example and not a limitation, this method can be applied to five-axis devices, including BC dual-axis rotary platforms. This application does not limit the type of five-axis device. Figure 1 As shown, the method may include steps S101 to S104, and each step is described below.

[0041] S101. With the five-axis equipment in a preset posture, perform template positioning on the product, determine the template data of N guide points, the template data of each interpolation point, and the correspondence between the N guide points and each interpolation point.

[0042] Where N is a positive integer less than M, and M is the total number of interpolation points in the trajectory to be interpolated;

[0043] In this embodiment, the five-axis device includes a camera or laser measuring instrument, which is used to perform template positioning on the product and determine template data for N guide points.

[0044] For example, as one possible implementation, N guide points can be determined on the trajectory to be interpolated, which includes M interpolation points, in the following manner.

[0045] The teach path is a manually defined or preset dispensing trajectory. The dispensing trajectory is generated based on the teach path. A five-axis machine, in a preset posture, controls a camera or laser measuring instrument to move along the dispensing trajectory, taking pictures of the product during the movement. Points with good imaging quality and / or good imaging stability during the photography process are manually selected as guide points, and the data of these guide points is recorded as template data for the guide points. Since the selection of guide points is affected by the imaging quality and stability during the photography process, the value of N is also affected by these factors.

[0046] It should be noted that when the five-axis equipment performs template positioning on the product, it determines the template data for each interpolation point in the dispensing trajectory along with the template data for the N guide points. The number of interpolation points in the dispensing trajectory is the same as the number of interpolation points in the trajectory to be interpolated, and their positions correspond.

[0047] In the embodiments of this application, the correspondence between the N guide points and each interpolation point can be manually defined or manually preset; through the correspondence between the N guide points and each interpolation point, the interpolation point corresponding to each of the N guide points can be determined.

[0048] For example, the correspondence between the N guide points and each interpolation point can include:

[0049] One pilot point corresponds to one interpolation point;

[0050] Multiple guide points correspond to one interpolation point; for example: two guide points correspond to one interpolation point, and three guide points correspond to one interpolation point.

[0051] Multiple guide points correspond to multiple interpolation points; for example: two guide points correspond to two interpolation points, two guide points correspond to six interpolation points, and three interpolation points correspond to six guide points.

[0052] In the embodiments of this application, the template data of the N guide points includes: position data of the N guide points and / or angle data of the N guide points, and the template data of each interpolation point includes: position data of each interpolation point and / or angle data of each interpolation point.

[0053] In the embodiments of this application, the template data of each of the N guide points is greater than -1 and less than 1.

[0054] Since interference points exist in the five-axis equipment, they can affect the template data of the guide points. Therefore, the template data of each of the N guide points is screened to exclude guide points with template data that are too large or too small, and the template data of the N guide points that meet the conditions are determined, thereby improving the accuracy of trajectory interpolation.

[0055] In the embodiments of this application, the preset posture can include any posture, and this application does not limit the preset posture. Preferably, the preset posture includes the initial posture, i.e., the blade tip posture (0,0,1). The five-axis device can perform template positioning of the product in the initial posture. When performing template positioning in the initial posture, there are fewer interference points, the determined guide points are more stable, the imaging effect is better, and the data of the determined guide points is more accurate.

[0056] It should be noted that when the five-axis equipment performs template positioning on the product in a preset posture, but fails to locate the guide point, the solution of this application cannot be implemented. Instead, the product is compensated according to the existing technology, that is, the product is compensated by guiding all interpolation points.

[0057] S102. With the five-axis equipment in a preset posture, perform machining and positioning on the product, and determine the positioning data of N guide points.

[0058] It's important to note that when a five-axis machine performs product positioning for machining, it needs to maintain the same orientation as when positioning the product as a template. For example, if the five-axis machine performs template positioning on the product in its initial orientation, it also needs to perform machining positioning on the product in that initial orientation to determine the positioning data for N guide points. Because there are fewer interfering points when the five-axis machine performs template positioning in its initial orientation, the determined guide points are more stable, resulting in better imaging and more accurate guide point data. Therefore, maintaining the same orientation as template positioning (i.e., the initial orientation) during machining positioning may also lead to more stable guide points, better imaging, and improved accuracy of the determined guide point positioning data.

[0059] S103. Based on the template data of N guide points, the positioning data of N guide points, the correspondence between N guide points and each interpolation point, and the structural characteristics of the five-axis equipment, determine the deviation value corresponding to each interpolation point in the trajectory to be interpolated.

[0060] Understandably, this application first determines the deviation value corresponding to each of the N guide points based on the template data and positioning data of the N guide points, and then determines the deviation value corresponding to each interpolation point in the trajectory to be interpolated based on the deviation value corresponding to each of the N guide points, the correspondence between the N guide points and each interpolation point, and the structural characteristics of the five-axis device.

[0061] Specifically, S103 includes S1031 and S1032:

[0062] S1031. Based on the template data and positioning data of N guide points, determine the difference between the template data and the positioning data of each guide point among the N guide points, and use it as the deviation value corresponding to each guide point among the N guide points.

[0063] For example, if N is 5, based on the template data and positioning data of the 5 guide points, a one-to-one correspondence method is used to determine the deviation value corresponding to each of the 5 guide points. Specifically, N is 5, including guide point 1, guide point 2, guide point 3, guide point 4, and guide point 5. Based on the template data and positioning data of guide point 1, the deviation value of guide point 1 is determined, and so on. Based on the template data and positioning data of guide point 5, the deviation value of guide point 5 is determined, thus determining the deviation values ​​corresponding to the 5 guide points respectively.

[0064] In the embodiments of this application, the deviation value corresponding to each of the N guide points is greater than -1 and less than 1.

[0065] It is understandable that interference points in a five-axis device can affect the positioning data of the guide points, which in turn affects the deviation values ​​of the guide points. Therefore, by filtering the deviation values ​​of each of the N guide points, guide points with excessively large or small deviation values ​​are excluded, and the deviation values ​​of the N guide points that meet the conditions are determined, thereby improving the accuracy of trajectory interpolation.

[0066] S1032. Based on the deviation value corresponding to each of the N guide points, the correspondence between the N guide points and each interpolation point, and the structural characteristics of the five-axis equipment, determine the deviation value corresponding to each interpolation point in the trajectory to be interpolated.

[0067] The deviation value corresponding to each interpolation point is the difference between the positioning data of each interpolation point and the template data of each interpolation point. The positioning data of each interpolation point is the data of each interpolation point in the trajectory to be interpolated, and can be calculated and determined based on the template data of each interpolation point and the deviation value corresponding to that interpolation point.

[0068] The template data for each interpolation point is obtained when the five-axis equipment performs template positioning on the product.

[0069] For example, in one possible implementation, when using the current guide point to guide the interpolation trajectory, the interpolation point corresponding to the current guide point is determined according to the correspondence between N guide points and each interpolation point; the deviation value of the interpolation point corresponding to the current guide point is determined according to the deviation value corresponding to the current guide point and the structural characteristics of the five-axis device.

[0070] For example, if a guide point corresponds to an interpolation point, then the deviation value corresponding to the interpolation point corresponding to this guide point is determined based on the deviation value corresponding to this guide point and the structural characteristics of the five-axis equipment.

[0071] For example, if two guide points correspond to one interpolation point, then based on the deviation values ​​corresponding to the two guide points and the structural characteristics of the five-axis equipment, not only the positional deviation value of the interpolation point can be determined, but also the angular deviation value of the interpolation point can be determined.

[0072] For example, if three guide points correspond to one interpolation point, then based on the deviation values ​​corresponding to the three guide points and the structural characteristics of the five-axis equipment, not only the positional deviation value of the interpolation point can be determined, but also the angular deviation value of the interpolation point can be determined. Alternatively, based on the deviation values ​​corresponding to any two of the three guide points and the structural characteristics of the five-axis equipment, not only the positional deviation value of the interpolation point can be determined, but also the angular deviation value of the interpolation point can be determined.

[0073] For example, if multiple guide points correspond to multiple interpolation points, then based on the deviation values ​​corresponding to the multiple guide points and the structural characteristics of the five-axis equipment, not only the positional deviation values ​​of the multiple interpolation points can be determined, but also the angular deviation values ​​of the multiple interpolation points can be determined. Alternatively, based on the deviation values ​​corresponding to any two or three of the multiple guide points and the structural characteristics of the five-axis equipment, not only the positional deviation values ​​of the multiple interpolation points can be determined, but also the angular deviation values ​​of the multiple interpolation points can be determined.

[0074] S104. Determine the positioning data of each interpolation point based on the deviation value corresponding to each interpolation point in the trajectory to be interpolated and the template data of each interpolation point.

[0075] Understandably, based on the deviation value corresponding to each interpolation point in the trajectory to be interpolated, the template data of each interpolation point is compensated to obtain the positioning data of each interpolation point; the positioning data can be called the compensation data.

[0076] For example, the positioning data of the interpolation point includes position compensation data and / or angle compensation data of the interpolation point.

[0077] For example, in one possible embodiment, the position data of each interpolation point is compensated according to the position deviation value of each interpolation point to obtain the position compensation data of each interpolation point.

[0078] In another possible embodiment, the position data and angle data of each interpolation point are compensated according to the position deviation value and angle deviation value of each interpolation point to obtain the position compensation data and angle compensation data of each interpolation point.

[0079] After step S104, the method may further include: performing product processing based on the compensation data of each interpolation point.

[0080] In one possible embodiment, product processing is performed based on the position compensation data of each interpolation point.

[0081] In another possible embodiment, product processing is performed based on position compensation data and angle compensation data for each interpolation point.

[0082] In the above trajectory interpolation method, the trajectory to be interpolated is guided by a number of guide points that are less than the total number of interpolation points in the trajectory to be interpolated. This eliminates the need to guide each interpolation point in the trajectory, reducing the workload of vision or laser guidance, reducing processing time, and improving processing efficiency.

[0083] To facilitate understanding, the product positioning process of a five-axis device will be described below with reference to the accompanying drawings.

[0084] refer to Figure 2 , Figure 2The diagram shown is an example of the process for template positioning of a product using the five-axis equipment provided in this application. Specifically, it includes the following steps:

[0085] S201, Template Start;

[0086] S202, Move to the positioning point;

[0087] For example, a five-axis device controls a camera or laser measuring instrument to move along the dispensing trajectory in a preset posture.

[0088] S203. Send a command to confirm whether positioning is possible;

[0089] For example, a five-axis device sends a confirmation command to a camera or laser measuring instrument to confirm whether the camera or laser measuring instrument is working properly, that is, to confirm whether the camera or laser measuring instrument can be positioned.

[0090] S204, Output Trigger Input / Output I / O;

[0091] For example, after receiving the confirmation instruction, if the camera or laser measuring instrument is working normally, it can return a confirmation message to the five-axis device and execute step S205; or, the camera or laser measuring instrument can also execute step S205 after receiving the positioning instruction sent by the five-axis device again.

[0092] S205, visual or laser positioning;

[0093] For example, a camera or laser measuring instrument can be activated to take a picture of the product, enabling the camera or laser positioning instrument to perform visual or laser positioning of the product.

[0094] S206. Disable trigger input / output I / O;

[0095] For example, a five-axis device sends a command to a camera or laser measuring instrument to stop taking pictures, causing the camera or laser positioning instrument to stop positioning the product.

[0096] S207, Output command to obtain the boot point;

[0097] For example, a five-axis device sends an output command to a camera or laser positioner, causing the camera or laser positioner to send guide points and guide point template data to the five-axis device, thereby enabling the five-axis device to acquire the guide points and guide point template data.

[0098] S208. Check if the guide point is OK;

[0099] In one possible embodiment, the availability of a guide point is determined by whether its template data is too large or too small. If the template data is determined to be too large or too small, the guide point is deemed unavailable and cannot be used as a guide point.

[0100] For example, interference from key points during product positioning can cause the template data for the guide point to be too large, leading to guide point detection failure, i.e., the guide point is not OK. For instance, if the template data for a guide point is 99999, this template data is too large, and guide point detection will fail.

[0101] For example, the system determines whether the guide point is OK by checking whether the template data of the guide point meets the detection conditions, that is, whether the guide point is successful or not. If the guide point is OK, step S209 is executed; if the guide point is not OK, step S210 is executed.

[0102] For example, the detection condition is that the template data of the guide point is greater than -1 and less than 1. If the template data of the guide point is greater than -1 and less than 1, then the template data of the guide point meets the detection condition, and the guide point is judged to be OK, that is, the detection of the guide point is successful, and step S209 is executed; if the template data of the guide point is less than -1 or greater than 1, then the template data of the guide point does not meet the detection condition, and the guide point is judged to be not OK, that is, the detection of the guide point fails, and step S210 is executed.

[0103] S209. Save template data;

[0104] Save the boot point and its template data.

[0105] S210, Template Failed.

[0106] Returns a template failure indication to the five-axis device and does not save the guide point or its template data.

[0107] refer to Figure 3 , Figure 3 The diagram shown is an example of the process flow for the five-axis equipment provided in this application to perform product processing and positioning. Specifically, it includes the following steps:

[0108] S301, Positioning begins;

[0109] S302, Move to the guide point;

[0110] For example, before processing a product, the five-axis machine has already acquired the guide points and template data of the guide points saved when the five-axis machine performs template positioning on the product. This allows the five-axis machine to control the camera or laser measuring instrument to move to the guide points in a preset posture when the product is being processed and positioned.

[0111] S303: Send a command to confirm whether positioning is possible;

[0112] For example, a five-axis device sends a confirmation command to a camera or laser measuring instrument to confirm whether the camera or laser measuring instrument is working properly, that is, to confirm whether the camera or laser measuring instrument can be positioned.

[0113] S304, Output Trigger Input / Output I / O;

[0114] For example, after receiving the confirmation instruction, if the camera or laser measuring instrument is working normally, it can return a confirmation message to the five-axis device and execute step S305; or, the camera or laser measuring instrument can also execute step S305 after receiving the positioning instruction sent by the five-axis device again.

[0115] S305, visual or laser positioning;

[0116] For example, a camera or laser measuring instrument can be activated to take a picture of the product, enabling the camera or laser positioning instrument to perform visual or laser positioning of the product.

[0117] S306. Disable trigger input / output I / O;

[0118] The five-axis equipment sends a command to the camera or laser measuring instrument to stop taking pictures, causing the camera or laser positioning instrument to stop positioning the product.

[0119] S307: Output the command to obtain the positioning data of the guide point and compare it with the template data of the guide point;

[0120] For example, a five-axis device sends an output command to a camera or laser positioner, causing the camera or laser positioner to output the positioning data of the guide point to the five-axis device. This allows the five-axis device to acquire the positioning data of the guide point, compare the positioning data of the guide point with the template data of the guide point, obtain the difference between the positioning data of the guide point and the template data of the guide point, and determine the deviation value corresponding to the guide point.

[0121] S308. Check if the deviation value corresponding to the guide point is OK;

[0122] For example, if the detection of the deviation value corresponding to the guide point is successful, then S308 is executed; if the detection of the deviation value corresponding to the guide point fails, then S309 is executed.

[0123] In one possible embodiment, the OK status of a guide point is determined by whether the deviation value corresponding to that guide point is too large or too small. If the deviation value corresponding to the guide point is determined to be too large or too small, the guide point is determined to be OK, and the template data corresponding to that guide point cannot be used.

[0124] For example, by checking whether the deviation value corresponding to the guide point meets the detection conditions, it is determined whether the deviation value corresponding to the guide point is OK, that is, whether the deviation value corresponding to the guide point is successful or unsuccessful. If the deviation value corresponding to the guide point is OK, then step S309 is executed; if the deviation value corresponding to the guide point is not OK, then step S310 is executed.

[0125] For example, the detection condition is that the deviation value corresponding to the guide point is greater than -1 and less than 1. If the deviation value corresponding to the guide point is greater than -1 and less than 1, the deviation value corresponding to the guide point meets the detection condition, and it is determined that the deviation value corresponding to the guide point is OK, that is, the deviation value of the guide point is successfully detected, and step SS09 is executed; if the deviation value corresponding to the guide point is less than -1 or greater than 1, the deviation value of the guide point does not meet the detection condition, and it is determined that the deviation value corresponding to the guide point is not OK, that is, the deviation value of the guide point is failed, and step S310 is executed. For example, if the positioning data of the guide point is 10 and the template data of the guide point is 0, then the deviation value corresponding to the guide point is 10. Since the deviation value 10 is greater than 1, the deviation value corresponding to the guide point is failed to be detected.

[0126] S309. Calculate the deviation value corresponding to each interpolation point based on the deviation value corresponding to the guide point and the structural characteristics of the five-axis equipment.

[0127] For example, if the deviation value corresponding to the guide point is successfully detected, the deviation value corresponding to each interpolation point is calculated based on the deviation value corresponding to the guide point and the structural characteristics of the five-axis equipment.

[0128] S310, throwing material.

[0129] For example, if the deviation value corresponding to the guide point is detected as a failure, product rejection processing is performed.

[0130] S311, Perform processing.

[0131] For example, based on the deviation value corresponding to each interpolation point in the trajectory to be interpolated and the template data of each interpolation point, the positioning data of each interpolation point is determined, and product processing is performed based on the compensation data of each interpolation point.

[0132] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0133] The trajectory interpolation device in the embodiments of this application will be described exemplarily below with reference to the accompanying drawings.

[0134] like Figure 4The diagram shown is a schematic representation of a trajectory interpolation device according to an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. (Refer to...) Figure 4 The trajectory interpolation device 400 includes: a first determining unit 410, a second determining unit 420, a third determining unit 430, and a fourth determining unit 440; wherein:

[0135] The first determining unit 410 is used to perform template positioning on the product when the five-axis equipment is in a preset posture, and to determine the template data of N guide points, the template data of each interpolation point, and the correspondence between the N guide points and each interpolation point; N is a positive integer less than M, and M is the total number of interpolation points in the trajectory to be interpolated;

[0136] The second determining unit 420 is used to perform processing and positioning on the product when the five-axis equipment is in a preset posture, and to determine the positioning data of N guide points.

[0137] The third determining unit 430 is used to determine the deviation value corresponding to each interpolation point in the trajectory to be interpolated based on the template data of N guide points, the positioning data of N guide points, the correspondence between N guide points and each interpolation point, and the structural characteristics of the five-axis equipment.

[0138] The fourth determining unit 440 is used to determine the positioning data of each interpolation point based on the deviation value corresponding to each interpolation point in the trajectory to be interpolated and the template data of each interpolation point.

[0139] Optionally, the third determining unit 430 is further configured to determine, based on the template data of N guide points and the positioning data of each guide point among the N guide points, the difference between the template data of each guide point and the positioning data of each guide point among the N guide points, as the deviation value corresponding to each guide point among the N guide points; and to determine the deviation value corresponding to each interpolation point in the trajectory to be interpolated based on the deviation value corresponding to each guide point among the N guide points, the correspondence between the N guide points and each interpolation point, and the structural characteristics of the five-axis device.

[0140] Optionally, the third determining unit 430 is further configured to determine the deviation value corresponding to an interpolation point based on the deviation value corresponding to a guide point and the structural characteristics of the five-axis equipment when the correspondence between the N guide points and each interpolation point includes: when one guide point corresponds to one interpolation point, the deviation value corresponding to one guide point and the structural characteristics of the five-axis equipment are used.

[0141] The third determining unit 430 is further configured to determine the deviation value corresponding to the interpolation point when the correspondence between the N guide points and each interpolation point includes: when two guide points correspond to one interpolation point, the deviation value corresponding to the two guide points and the structural characteristics of the five-axis equipment are used to determine the deviation value corresponding to the one interpolation point corresponding to the two guide points.

[0142] Optionally, the preset attitude includes the initial attitude.

[0143] Optionally, the template data for the N guide points includes: position data of the N guide points and / or angle data of the N guide points, and the template data for each interpolation point includes: position data of each interpolation point and / or angle data of each interpolation point.

[0144] Optionally, the template data for each of the N guide points is greater than -1 and less than 1.

[0145] Optionally, the deviation value corresponding to each of the N guide points is greater than -1 and less than 1.

[0146] It should be understood that the specific process of each unit in the trajectory interpolation device 400 performing the above-mentioned corresponding steps is described in the previous section on the trajectory interpolation method. For the sake of brevity, it will not be repeated here.

[0147] One embodiment of this application also provides a trajectory interpolation device 500. For example... Figure 5 As shown, the trajectory interpolation device 500 of this embodiment includes: a processor 501, a memory 502, and a computer program 504 stored in the memory 502 and executable on the processor 501. The computer program 504 can be executed by the processor 501 to generate instructions 503, which the processor 501 can use to implement the steps in the various trajectory interpolation method embodiments described above. Alternatively, when the processor 501 executes the computer program 504, it implements the functions of each module / unit in the various device embodiments described above, for example... Figure 4 The functions of the first determining unit 410 to the fourth determining unit 440 shown.

[0148] For example, the computer program 504 may be divided into one or more modules / units, one or more of which are stored in the memory 502 and executed by the processor 501 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 504 in the trajectory interpolation device 500.

[0149] Those skilled in the art will understand that Figure 5 This is merely an example of the trajectory interpolation device 500 and does not constitute a limitation on the trajectory interpolation device 500. The trajectory interpolation device 500 may include more or fewer components than shown, or combine certain components, or different components. For example, the trajectory interpolation device 500 may also include input / output devices, network access devices, buses, etc.

[0150] Processor 501 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0151] The memory 502 can be an internal storage unit of the trajectory interpolation device 500, such as a hard disk or RAM of the trajectory interpolation device 500. The memory 502 can also be an external storage device of the trajectory interpolation device 500, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the trajectory interpolation device 500. Furthermore, the memory 502 can include both internal and external storage units of the trajectory interpolation device 500. The memory 502 is used to store computer programs and other programs and data required by the trajectory interpolation device 500. The memory 502 can also be used to temporarily store data that has been output or will be output.

[0152] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0153] This application also provides a computer-readable storage medium storing a computer program or instructions. When a computer reads and executes the computer program or instructions, the computer performs the steps in the various method embodiments described above. The readable medium may be a read-only memory (ROM) or a random access memory (RAM), and this application does not limit this.

[0154] For example, a computer program or instruction in a computer-readable storage medium is implemented using aspect-oriented programming techniques.

[0155] This application provides a computer program product that, when run on a server, enables the server to implement the steps described in the various method embodiments above.

[0156] This application also provides a chip comprising a processing unit and a communication unit. The processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, pins, or circuitry. The processing unit can execute computer instructions to cause the trajectory interpolation device to perform any of the trajectory interpolation methods provided in the embodiments of this application.

[0157] Optionally, the computer instructions are stored in a storage unit.

[0158] Optionally, the storage unit can be an internal storage unit within the chip, such as a register or cache. Alternatively, it can be an external storage unit located within the terminal, such as a ROM or other types of static storage devices capable of storing static information and instructions, or random access RAM. The processor mentioned above can be a CPU, microprocessor, ASIC, or one or more integrated circuits used to control the display and control methods of the aforementioned electronic device. The processing unit and the storage unit can be decoupled and located on different physical devices, connected via wired or wireless means to implement their respective functions, thereby supporting the system chip in implementing the various functions described in the above embodiments. Alternatively, the processing unit and the memory can also be coupled to the same device.

[0159] It is understood that the chip provided in this application embodiment can be an integrated circuit for implementing any of the above-described trajectory interpolation methods. The main function of the chip is to execute the steps or processes defined by the trajectory interpolation method in this application embodiment, that is, to implement the trajectory interpolation method in this application embodiment in hardware. The computer-readable storage medium provided in this application embodiment is mainly used to store a computer program. When the computer program is executed, it implements the steps or processes defined by any of the above-described trajectory interpolation methods, that is, to implement the trajectory interpolation method in this application embodiment in the form of computer software.

[0160] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0161] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0162] In the embodiments provided in this application, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0163] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0165] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: any entity or device capable of carrying computer program code to a device / server, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0166] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A trajectory interpolation method applied to a five-axis machine, characterized in that, Comprise: In the case that the five-axis equipment is in a preset posture, template positioning is performed on a product, template data of N guide points, template data of each interpolation point, and a corresponding relationship between the N guide points and the each interpolation point are determined; The N is a positive integer less than M, and the M is a total number of interpolation points in a to-be-interpolated trajectory; In the case that the five-axis equipment is in a preset posture, machining positioning is performed on the product, and positioning data of the N guide points are determined; According to the template data of the N guide points, the positioning data of the N guide points, the corresponding relationship between the N guide points and the each interpolation point, and a structural characteristic of the five-axis equipment, a corresponding deviation value of each interpolation point in the to-be-interpolated trajectory is determined, and the corresponding deviation value of the each interpolation point is a difference value between positioning data of the each interpolation point and template data of the each interpolation point; According to the corresponding deviation value of each interpolation point in the to-be-interpolated trajectory and the template data of the each interpolation point, positioning data of the each interpolation point are determined.

2. The trajectory interpolation method of claim 1, wherein, The determining, according to the template data of the N guide points, the positioning data of the N guide points, the corresponding relationship between the N guide points and the each interpolation point, and the structural characteristic of the five-axis equipment, of the corresponding deviation value of each interpolation point in the to-be-interpolated trajectory comprises: According to the template data of the N guide points and the positioning data of the N guide points, a difference value between the template data of each guide point in the N guide points and the positioning data of each guide point in the N guide points is determined as a corresponding deviation value of each guide point in the N guide points; According to the corresponding deviation value of each guide point in the N guide points, the corresponding relationship between the N guide points and the each interpolation point, and the structural characteristic of the five-axis equipment, the corresponding deviation value of each interpolation point in the to-be-interpolated trajectory is determined.

3. The trajectory interpolation method of claim 2, wherein, The determining, according to the corresponding deviation value of each guide point in the N guide points, the corresponding relationship between the N guide points and the each interpolation point, and the structural characteristic of the five-axis equipment, of the corresponding deviation value of each interpolation point in the to-be-interpolated trajectory comprises: In the case that the corresponding relationship between the N guide points and the each interpolation point comprises that one guide point corresponds to one interpolation point, the corresponding deviation value of the one interpolation point corresponding to the one guide point is determined according to the corresponding deviation value of the one guide point and the structural characteristic of the five-axis equipment; In the case that the corresponding relationship between the N guide points and the each interpolation point comprises that two guide points correspond to one interpolation point, the corresponding deviation value of the one interpolation point corresponding to the two guide points is determined according to the corresponding deviation values of the two guide points and the structural characteristic of the five-axis equipment.

4. The trajectory interpolation method according to claim 1 or 2, characterized by, The preset posture comprises an initial posture.

5. The trajectory interpolation method according to claim 1 or 2, characterized by, The template data of the N guide points comprises position data of the N guide points and / or angle data of the N guide points, and the template data of the each interpolation point comprises position data of the each interpolation point and / or angle data of the each interpolation point.

6. The trajectory interpolation method of claim 1, wherein, The template data of each guide point in the N guide points is greater than -1 and less than 1.

7. The trajectory interpolation method of claim 2, wherein, Each of the N guide points corresponds to a deviation value greater than -1 and less than 1.

8. A trajectory interpolation device characterized by comprising: The apparatus comprises means for performing the individual steps of the method according to any one of claims 1 to 7.

9. A trajectory interpolation apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program, which is executed by a processor, implements the method according to any one of claims 1 to 7. The computer program, which is executed by a processor, implements the method according to any one of claims 1 to 7.

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