Circle center positioning method, device, storage medium and computer program product

Abstract

The present application is applicable to the field of laser processing technology, and provides a method, device, storage medium and computer program product for locating the center of a circle. The method for locating the center of a circle includes obtaining the coordinates of a first edge-finding starting point; controlling an edge-finding device to move toward a hollow circle along the Y axis from the first edge-finding starting point as a starting point, so as to determine the coordinates of a first target point and a second target point at the boundary line of the hollow circle; determining the coordinates of a third edge-finding starting point according to the coordinates of the first target point and the second target point; controlling an edge-finding device to move toward a hollow circle along the X axis from the third edge-finding starting point as a starting point, so as to determine the coordinates of a third target point at the boundary line of the hollow circle; determining the coordinates of the center of the hollow circle according to the coordinates of the first target point, the coordinates of the second target point and the coordinates of the third target point. The embodiments of the present application can realize the positioning of a circular workpiece, and can be applied to the center positioning of a wheel hub, so as to improve the processing accuracy of the wheel hub.

Description

Technical Field

[0001] The present application relates to the field of laser processing technology, and in particular to a circle center positioning method, device, storage medium and computer program product. Background Art

[0002] Laser cutting technology has the advantages of high cutting accuracy, narrow cutting gap, fast cutting speed and little damage to the workpiece. Therefore, it is widely used in the automotive, electronics, aerospace and other fields.

[0003] When using laser cutting technology to process the wheel hub, it is necessary to position the hub with a tool. However, during the long-term processing of the hub, the errors generated each time the hub is processed will accumulate, resulting in an increasing position deviation of the hub. Therefore, before processing the hub, it is necessary to locate the center position of the hub to determine the position of the hub and improve the accuracy of laser processing of the hub. Summary of the invention

[0004] The embodiment of the present application provides a method for locating the center of a circle, which can improve the machining accuracy of the wheel hub.

[0005] In a first aspect, an embodiment of the present application provides a method for locating the center of a circle, the method for locating the center of a circular workpiece; the circular workpiece has a high-level circular surface, a hollow circle is arranged in the high-level circular surface, and the center of the hollow circle coincides with the center of the circular workpiece; the method for locating the center of a circle comprises:

[0006] Get the coordinates P of the first edge search starting point 1 (x 1 ,y 1 );

[0007] Control the edge finder to start at the first edge finding starting point P 1 As the starting point, move along the Y axis toward the hollow circle to determine the coordinates P of the first target point on the boundary line of the hollow circle. 11 (x 11 ,y 11 ) and the coordinates of the second target point P 12 (x 12 ,y 12 );

[0008] According to the first target point P 11 The coordinates of the second target point P 12 The coordinates of the third edge search starting point are determined by 3 (x 3 ,y 3 );

[0009] Control the edge finder to start at the third edge finding starting point P 3As the starting point, move along the X axis toward the hollow circle to determine the coordinates P of the third target point on the boundary line of the hollow circle. 13 (x 13 ,y 13 );

[0010] According to the coordinates P of the first target point 11 (x 11 ,y 11 ), the coordinates P of the second target point 12 (x 12 ,y 12 ) and the coordinates P of the third target point 13 (x 13 ,y 13 ) Determine the center coordinates P of the hollow circle 0 (x 0 ,y 0 );

[0011] Among them, the third edge search starting point P 3 Located on the straight line P 11 P 12 The first edge search starting point P is on the perpendicular bisector of 1 Located on the high-level circular surface.

[0012] In some possible implementations of the first aspect, the diameter of the hollow circle is d 1 The outer diameter of the high-level circular surface is d 2 ; The first target point P 11 The coordinates of the second target point P 12 The coordinates of the third edge search starting point are determined by 3 (x 3 ,y 3 ) steps include:

[0013] Get the diameter d of the hollow circle 1 and the outer diameter d of the high-level circular surface 2 ;

[0014] According to the x 11 , the diameter d of the hollow circle 1 and the outer diameter d of the high-level circular surface 2 Determine the x 3 ;

[0015] According to the 11 and the 12 Determine the y 3 .

[0016] In some possible implementations of the first aspect, the first target point P 11The coordinates of the second target point P 12 The coordinates of the third edge search starting point P 3 The coordinates of the hollow circle, the diameter d 1 and the outer diameter d of the high-level circular surface 2 satisfy:

[0017] x 3 =x 11 +d 1 / 2+(d 2 -d 1 ) / 4;

[0018] y 3 =(y 11 +y 12 ) / 2.

[0019] In some possible implementations of the first aspect, the coordinates P of the third target point are determined on the boundary line of the hollow circle. 13 After the steps, it also includes:

[0020] According to the third edge search starting point P 3 The coordinates of the third target point P 13 , the diameter d of the hollow circle 1 and the outer diameter d of the high-level circular surface 2 Determine the coordinates P of the fourth edge search starting point 4 (x 4 ,y 4 );

[0021] Control the edge finder to start at the fourth edge finding starting point P 4 As the starting point, move along the X axis toward the hollow circle to be close to the fourth edge-finding starting point P on the hollow circle. 4 The boundary line determines the coordinates of the fourth target point P 14 (x 14 ,y 14 );

[0022] According to the coordinates P of the first target point 11 (x 11 ,y 11 ), the coordinates P of the second target point 12 (x 12 ,y 12 ), the coordinate P of the third target point 13 (x 13 ,y 13 ) and the coordinates of the fourth target point P 14 (x 14 ,y 14 ) Determine the center coordinates P of the hollow circle 0(x 0 ,y 0 ).

[0023] In some possible implementations of the first aspect, the third target point P 13 The coordinates of the third edge search starting point P 3 The coordinates of the fourth edge search starting point P 4 The coordinates of the hollow circle, the diameter d 1 and the outer diameter d of the high-level circular surface 2 satisfy:

[0024] x 4 =x 13 -d 1 -(d 2 -d 1 ) / 4;

[0025] y 4 =y 3 .

[0026] In some possible implementations of the first aspect, the edge finder is controlled to start at the first edge finding starting point P 1 As the starting point, move along the Y axis toward the hollow circle to determine the coordinates P of the first target point on the boundary line of the hollow circle. 11 (x 11 ,y 11 ) and the coordinates of the second target point P 12 (x 12 ,y 12 ) steps include:

[0027] Control the edge finder to start at the first edge finding starting point P 1 As the starting point, move along the Y axis toward the hollow circle to close to the first edge-finding starting point P on the hollow circle. 1 The boundary line determines the coordinates of the first target point P 11 (x 11 ,y 11 );

[0028] According to the coordinates P of the first target point 11 , the diameter d of the hollow circle 1 and the outer diameter d of the high-level circular surface 2 Determine the second edge search starting point P 2 (x 2 ,y 2 )’s coordinates;

[0029] Control the edge finder to start at the second edge finding starting point P 2As the starting point, move along the Y axis toward the hollow circle to be close to the second edge-finding starting point P on the hollow circle. 2 The boundary line determines the coordinates of the second target point P 12 (x 12 ,y 12 ).

[0030] In some possible implementations of the first aspect, the coordinate P of the first target point 11 , the diameter d of the hollow circle 1 and the outer diameter d of the high-level circular surface 2 satisfy:

[0031] x 2 =x 11 ;

[0032] y 2 =y 11 +d 1 + (d 2 -d 1 ) / 4.

[0033] In some possible implementations of the first aspect, the coordinate P of the first edge-finding starting point 1 , the center coordinates P of the hollow circle 0 , the diameter d of the hollow circle 1 and the outer diameter d of the high-level circular surface 2 satisfy:

[0034] |x 1 -x 0 |<(d 2 -d 1 ) / 4.

[0035] In some possible implementations of the first aspect, the center coordinate P of the hollow circle is 0 The coordinates P of the starting point of the first edge search 1 satisfy:

[0036] y 1 <y 0 .

[0037] In a second aspect, an embodiment of the present application provides a center positioning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the center positioning method described in any of the above technical solutions.

[0038] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the circle center positioning method described in any of the above technical solutions are implemented.

[0039] In a fourth aspect, an embodiment of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the circle center positioning method as described in any of the above technical solutions are implemented.

[0040] The circle center positioning method provided in the embodiment of the present application first obtains the first edge search starting point P 1 Then control the edge finder to start at the first edge finding point P 1 As the starting point, move along the Y axis toward the hollow circle to determine the first target point P on the boundary line of the hollow circle. 11 The coordinates of the second target point P 12 The coordinates of the first target point P 11 The coordinates of the second target point P 12 The coordinates of the third edge search starting point are determined by 3 ; Then control the edge finder to start at the third edge finding point P 3 As the starting point, move along the X axis toward the hollow circle to determine the coordinates P of the third target point on the boundary line of the hollow circle. 13 ; Finally, according to the first target point P 11 The coordinates of the second target point P 12 The coordinates of the third target point P 13 The coordinates of the hollow circle are determined by P 0 ; To realize the positioning of circular workpieces, and can be applied to the center positioning of the hub, so as to improve the processing accuracy of the hub; and by determining the third edge search starting point P of the middle point 3 , which can improve the success rate of edge finding. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0042] Figure 1 A schematic diagram of the terminal structure of the hardware operating environment involved in an embodiment of the circle center positioning method of the present application;

[0043] Figure 2 A cross-sectional view of a wheel hub provided in one embodiment of the present application;

[0044] Figure 3 Based on Figure 2 Schematic diagram of edge finding of wheel hub;

[0045] Figure 4 This is a flow chart of an embodiment of a method for locating the center of a circle of the present application;

[0046] Figure 5 for Figure 4 A detailed flow chart of step S20;

[0047] Figure 6 for Figure 4 A detailed flow chart of step S30;

[0048] Figure 7 This is a flow chart of another embodiment of the circle center positioning method of the present application.

[0049] Description of Figure Numbers:

[0050] 1. Hollow circle; 2. High-rise round surface.

[0051] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0054] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0055] It should be understood that the term “and / or” used in the specification and appended claims of this application refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0057] like Figure 1 As shown, Figure 1 The terminal of the embodiment of the present application may be a laser cutting device.

[0058] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0059] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation on the terminal, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0060] In the embodiments of the present application, Figure 4 As shown, the circle center positioning method includes:

[0061] Step S10, obtaining the coordinates P of the first edge search starting point 1 (x 1 ,y 1 ).

[0062] like Figure 2As shown, the center positioning method provided in the embodiment of the present application can be used to locate the center of a circular workpiece. The circular workpiece has a high-level circular surface 2, and a hollow circle 1 is arranged inside the high-level circular surface 2; the center of the hollow circle 1 coincides with the center of the circular workpiece; it can be understood that the high-level circular surface 2 is an annular surface. Optionally, the circular workpiece can be a wheel hub, so that after determining the center coordinates of the wheel hub, a laser beam can be used to drill, cut, etc. the wheel hub.

[0063] Get the first edge search starting point P 1 Before obtaining the coordinates of an edge finder, a spatial rectangular coordinate system can be established first so that the coordinate position of the edge finder can be determined, and then the position coordinates of each point can be determined based on the coordinate position of the edge finder.

[0064] After the positioning fixture positions the circular workpiece, the user can manually drag the edge finder to the top of the high-level circular surface, and then use the orthographic projection of the edge finder on the high-level circular surface as the first edge finding starting point P. 1 Since the edge finder is associated with a pre-established spatial rectangular coordinate system, the coordinates of the position of the edge finder are known, so the coordinates P of the first edge finding starting point can be determined according to the position of the edge finder in the spatial rectangular coordinate system. 1 (x 1 ,y 1 ).

[0065] The distance between the edge finder and the circular workpiece can be set according to the actual processing requirements. Therefore, the coordinates P of the first edge finding starting point can be determined according to the position coordinates of the edge finder and the distance between the edge finder and the circular workpiece. 1 (x 1 ,y 1 ).

[0066] Step S20, control the edge finder to start at the first edge finding starting point P 1 As the starting point, move along the Y axis toward the hollow circle to determine the coordinates P of the first target point on the boundary line of the hollow circle. 11 (x 11 ,y 11 ) and the coordinates of the second target point P 12 (x 12 ,y 12 ).

[0067] like Figure 3 As shown, when determining the first edge search starting point P 1 After that, the first edge search starting point P 1 Along the Y axis direction, facing the hollow circle. Thus, the edge finder is controlled to start at the first edge finding starting point P 1As the starting point, move along the Y axis toward the hollow circle. When the edge finder moves to the boundary line of the hollow circle, the edge finder can detect the boundary line of the hollow circle, thereby determining the coordinates P of the first target point on the boundary line of the hollow circle. 11 (x 11 ,y 11 ) and the coordinates of the second target point P 12 (x 12 ,y 12 ).

[0068] Since the edge finder is based on the first edge finding starting point P 1 As the starting point, it moves along the Y axis toward the hollow circle, so the first target point P detected by the edge finder 11 and the second target point P 12 About line y 0 Specifically, the boundary line of the hollow circle and the straight line x 1 The coordinates of the two intersection points are determined as the coordinates of the first target point P 11 (x 11 ,y 11 ) and the coordinates of the second target point P 12 (x 12 ,y 12 ). Among them, close to the first edge search starting point P 1 The first target point P 11 , far away from the first edge search starting point P 1 The second target point P 12 .

[0069] The edge finder can be a capacitive sensor. After the capacitive sensor is moved to a position at a certain height from the surface of the circular workpiece (i.e., the high-level circular surface), the detection function of the capacitive sensor is turned on. When the voltage change detected by the capacitive sensor is greater than or equal to the preset value, it means that the detection voltage of the capacitive sensor has a sudden change, indicating that the capacitive sensor is located on the boundary line of the hollow circle, so as to find the edge of the boundary line of the hollow circle.

[0070] In one embodiment, the edge finder can start at the first edge finding starting point P 1 As the starting point, pass through the hollow circle along the Y axis, and determine the boundary line position of the hollow circle detected by the edge finder for the first time as the first target point P 11 , the boundary line position of the hollow circle detected by the edge finder for the second time is determined as the second target point P 12 .

[0071] In another embodiment, if Figure 3 and Figure 5 As shown, step S20 includes:

[0072] Step S21, control the edge finder to start at the first edge finding starting point P1 As the starting point, move along the Y axis toward the hollow circle to approach the first edge search starting point P on the hollow circle. 1 The boundary line determines the coordinates of the first target point P 11 (x 11 ,y 11 );

[0073] Step S22: according to the coordinates P of the first target point 11 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 Determine the second edge search starting point P 2 (x 2 ,y 2 )’s coordinates;

[0074] Step S23, control the edge finder to start at the second edge finding starting point P 2 As the starting point, move along the Y axis toward the hollow circle to approach the second edge search starting point P on the hollow circle. 2 The boundary line determines the coordinates of the second target point P 12 (x 12 ,y 12 ).

[0075] In the embodiments of the present application, Figure 2 As shown, the diameter of the hollow circle 1 is d 1 , the diameter of the high-level circular surface 2 is d 2 The circular workpiece can be a standard part or a non-standard part. When the circular workpiece is a standard part, the diameter d of the hollow circle can be directly obtained according to the specifications of the circular workpiece. 1 and the diameter d of the high-rise circular surface 2 When the circular workpiece is a non-standard part, the diameter d of the hollow circle can be obtained by measuring 1 and the diameter d of the high-rise circular surface 2 .

[0076] In obtaining the diameter d of the hollow circle 1 and the diameter d of the high-rise circular surface 2 Then, the diameter of the hollow circle d 1 and the diameter d of the high-rise circular surface 2 Stored in memory for recall when needed.

[0077] Control the edge finder to start at the first edge finding point P 1 As the starting point, move along the Y axis toward the hollow circle. When the edge finder detects the boundary line of the hollow circle for the first time, the position where the edge finder first detects the boundary line of the hollow circle is determined as the first target point P. 11 , thereby determining the coordinates P of the first target point 11 (x 11 ,y11 ).

[0078] Then according to the coordinates P of the first target point 11 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 Determine the coordinates P of the second edge search starting point 2 (x 2 ,y 2 ), so that the second edge search starting point P 2 As far as possible on the high-level circular surface. Among them, the coordinates of the first target point P 11 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 satisfy:

[0079] x 2 =x 11 ;

[0080] y 2 =y 11 +d 1 + (d 2 -d 1 ) / 4.

[0081] Through the coordinates P of the first target point 11 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 , to calculate the coordinates P of the second edge search starting point 2 (x 2 ,y 2 ), can improve the second edge search starting point P 2 The probability of being on the high-level circular surface, thereby increasing the second target point P 12 The success rate of edge finding. 2 =x 11 =x 12 =x 1 .

[0082] When determining the second edge search starting point P 2 After obtaining the coordinates, control the edge finder to start at the second edge finding point P 2 As the starting point, move along the Y axis toward the hollow circle. When the edge finder detects the boundary line of the hollow circle for the first time, the position where the edge finder first detects the boundary line of the hollow circle is determined as the second target point P. 12 , thereby determining the coordinates P of the second target point 12 (x 12 ,y 12 ).

[0083] After determining the coordinates P of the first target point 11 (x 11 ,y11 ) after which the edge finder can be moved to the second edge finding starting point P 2 To avoid the edge finder from colliding with the circular workpiece. Specifically, since there is a height error on the surface of the circular workpiece and the distance between the edge finder and the high-level circular surface is close, if the edge finder passes through the hollow circle, the edge finder and the circular workpiece may collide.

[0084] Therefore, in this embodiment, the second edge search starting point P is first determined 2 After finding the coordinates of the second edge search starting point P 2 As the starting point, find the coordinates P of the second target point on the edge 12 (x 12 ,y 12 ), which can reduce the collision probability between the edge finder and the circular workpiece and improve the success rate of edge finding.

[0085] Step S30: according to the first target point P 11 The coordinates of the second target point P 12 The coordinates of the third edge search starting point are determined by 3 (x 3 ,y 3 ).

[0086] Specifically, Figure 3 and Figure 6 As shown, step S30 includes:

[0087] Step S31, obtaining the diameter d of the hollow circle 1 and the outer diameter d of the high-rise circular surface 2 ;

[0088] Step S32, according to x 11 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 Determine x 3 ;

[0089] Step S33, according to y 11 and 12 Determine y 3 .

[0090] In obtaining the diameter d of the hollow circle 1 and the outer diameter d of the high-rise circular surface 2 Then, according to the coordinate x 11 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 To determine the coordinate x 3 . Then according to the coordinate y 11 and coordinate y 12 To determine the coordinate y 3 , to determine the coordinates P of the third edge search starting point3 (x 3 ,y 3 ). This can increase the third edge search starting point P 3 The probability of being on a high-level circular surface can thereby improve the success rate of edge finding.

[0091] In this embodiment, the first target point P 11 The coordinates of the second target point P 12 The coordinates of the third edge search starting point P 3 The coordinates of the hollow circle, the diameter d 1 and the outer diameter d of the high-rise circular surface 2 satisfy:

[0092] x 3 =x 11 +d 1 / 2+(d 2 -d 1 ) / 4;

[0093] y 3 =(y 11 +y 12 ) / 2.

[0094] Since the first target point P 11 and the second target point P 12 About line y 0 Symmetric, so it can be passed through the first target point P 11 The y coordinate of 11 and the second target point P 12 The y coordinate of 12 , the coordinate y 11 and coordinate y 12 The median value of is taken as the third edge search starting point P 3 The y coordinate of 3 . Then pass through the first target point P 11 The coordinate x 11 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 Determine the third edge search starting point P 3 The coordinate x 3 In order to improve the third edge search starting point P 3 The probability of being located on a high-level circular surface is increased, thereby improving the success rate of edge finding.

[0095] Set the third edge search starting point P 3 Positioned on line y 0 It can simplify subsequent calculations and make it easier to obtain the coordinates of the center of the hollow circle.

[0096] In one embodiment, the coordinates P of the first edge search starting point are 1 , the center coordinates of the hollow circle P0 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 satisfy:

[0097] |x 1 -x 0 |<(d 2 -d 1 ) / 4.

[0098] Define the third edge search starting point P 3 The coordinate x 3 =x 1 + (d 1 -d 2 ) / 4, and since the third edge search starting point P 3 The y coordinate 3 =y 0 , so x 3 The minimum value of x 3min =x 0 +d 1 / 2,x 3 The maximum value of x 3max =x 0 +d 2 / 2, if the third edge search starting point P is 3 Located on a high-rise circular surface, then:

[0099] x 0 +d 1 / 2<x 1 + (d 1 -d 2 ) / 4<x 0 +d 2 / 2, that is,

[0100] x 1 -x 0 >(d 1 -d 2 ) / 4;

[0101] x 1 -x 0 <(d 2 -d 1 ) / 4;

[0102] Thus we get |x 1 -x 0 |<(d 2 -d 1 ) / 4, so that the third edge search starting point P 3 Located on a high-rise circular surface, it improves the success rate of edge finding.

[0103] Step S40, control the edge finder to start at the third edge finding starting point P3 As the starting point, move along the X axis toward the hollow circle to determine the coordinates P of the third target point on the boundary line of the hollow circle. 13 (x 13 ,y 13 ).

[0104] When determining the third edge search starting point P 3 After obtaining the coordinates, control the edge finder to start at the third edge finding point P 3 As the starting point, move toward the hollow circle along the X axis. When the edge finder detects the boundary line of the hollow circle for the first time, the position where the edge finder first detects the boundary line of the hollow circle is determined as the third target point P. 13 , thereby determining the coordinates of the third target point P 13 (x 13 ,y 13 ).

[0105] Step S50: according to the coordinates P of the first target point 11 (x 11 ,y 11 ), the coordinates of the second target point P 12 (x 12 ,y 12 ) and the coordinates of the third target point P 13 (x 13 ,y 13 ) Determine the coordinates P of the center of the hollow circle 0 (x 0 ,y 0 ).

[0106] The first target point P 11 , the second target point P 12 and the third target point P 13 are all located on the boundary line of the hollow circle, and the third target point P 13 Located on the straight line P 11 P 12 The diameter d of the hollow circle on the perpendicular bisector of 1 Known, the coordinates P of the center of the hollow circle can be calculated 0 (x 0 ,y 0 ), thereby determining the position of the circular workpiece.

[0107] In this embodiment of the present application, the first edge search starting point P is first obtained. 1 Then control the edge finder to start at the first edge finding point P 1 As the starting point, move along the Y axis toward the hollow circle to determine the first target point P on the boundary line of the hollow circle. 11 The coordinates of the second target point P 12 The coordinates of the first target point P 11The coordinates of the second target point P 12 The coordinates of the third edge search starting point are determined by P3 ; Then control the edge finder to start at the third edge finding point P 3 As the starting point, move along the X axis toward the hollow circle to determine the coordinates P of the third target point on the boundary line of the hollow circle. 13 ; Finally, according to the first target point P 11 The coordinates of the second target point P 12 The coordinates of the third target point P 13 The coordinates of the hollow circle are determined by P 0 ; To realize the positioning of circular workpieces, and can be applied to the center positioning of the hub, so as to improve the processing accuracy of the hub; and by determining the third edge search starting point P of the middle point 3 , which can improve the success rate of edge finding.

[0108] In one embodiment, if Figure 3 and Figure 7 As shown, after step S40, the following further includes:

[0109] Step S60: according to the third edge search starting point P 3 The coordinates of the third target point P 13 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 Determine the coordinates P of the fourth edge search starting point 4 (x 4 ,y 4 );

[0110] Step S70, control the edge finder to start at the fourth edge finding starting point P 4 As the starting point, move along the X axis toward the hollow circle to approach the fourth edge search starting point P in the hollow circle 4 The boundary line determines the coordinates of the fourth target point P 14 (x 14 ,y 14 );

[0111] Step S80: according to the coordinates P of the first target point 11 (x 11 ,y 11 ), the coordinates of the second target point P 12 (x 12 ,y 12 ), the coordinates of the third target point P 13 (x 13 ,y 13 ) and the coordinates of the fourth target point P 14 (x 14 ,y 14 ) Determine the coordinates P of the center of the hollow circle 0(x 0 ,y 0 ).

[0112] In determining the coordinates P of the third target point 13 Then, according to the third edge search starting point P 3 The coordinates of the third target point P 13 , the diameter of the hollow circle d 1 and the outer diameter d of the high-rise circular surface 2 Determine the coordinates P of the fourth edge search starting point 4 (x 4 ,y 4 ). To increase the fourth edge search starting point P 4 The probability of being on a high-level circular surface increases, thereby improving the success rate of edge finding.

[0113] Among them, the third target point P 13 The coordinates of the third edge search starting point P 3 The coordinates of the fourth edge search starting point P 4 The coordinates of the hollow circle, the diameter d 1 and the outer diameter d of the high-rise circular surface 2 satisfy:

[0114] x 4 =x 13 -d 1 -(d 2 -d 1 ) / 4;

[0115] y 4 =y 3 .

[0116] To improve the fourth edge search starting point P 4 The probability of being on a high-level circular surface increases, thereby improving the success rate of edge finding.

[0117] Moreover|x 1 -x 0 |<(d 2 -d 1 ) / 4, so that the fourth edge search starting point P 4 Located on a high-rise circular surface, it improves the success rate of edge finding.

[0118] Determine the coordinates P of the fourth edge search starting point 4 (x 4 ,y 4 ) and then control the edge finder to start at the fourth edge finding point P 4 As the starting point, move along the X axis toward the hollow circle. When the edge finder detects the boundary line of the hollow circle for the first time, the position where the edge finder first detects the boundary line of the hollow circle is determined as the fourth target point P. 14 , thereby determining the coordinates of the fourth target point P14 (x 14 ,y 14 ).

[0119] After determining the fourth target point P 14 After the coordinates of the first target point P 11 (x 11 ,y 11 ), the coordinates of the second target point P 12 (x 12 ,y 12 ), the coordinates of the third target point P 13 (x 13 ,y 13 ) and the coordinates of the fourth target point P 14 (x 14 ,y 14 ) Determine the coordinates P of the center of the hollow circle 0 (x 0 ,y 0 ). Among them, x 0 =(x 13 +x 14 ) / 2,y 0 =(y 11 +y 12 ) / 2.

[0120] Understandably, 0 =(y 11 +y 12 ) / 2=y 3 =y 4 , x 1 =x 11 =x 2 =x 12 .

[0121] In one embodiment, if Figure 1 As shown, the center coordinates of the hollow circle are P 0 The coordinates P of the first edge search starting point 1 satisfy:

[0122] y 1 <y 0 .

[0123] Thus, the center P of the hollow circle can be determined 0 and the first edge search starting point P 1 positional relationship in order to control the edge finder to automatically find the edge and improve the edge finding efficiency.

[0124] In this embodiment, if Figure 3 As shown, when determining the first edge search starting point P 1 After that, the edge finder is controlled to start at the first edge finding starting point P 1As the starting point, move along the positive direction of the Y axis to determine the first target point P on the boundary line of the hollow circle. 11 The coordinates of .

[0125] When determining the second edge search starting point P 2 After that, the edge finder is controlled to start at the second edge finding point P 2 As the starting point, move along the negative direction of the Y axis to determine the second target point P on the boundary line of the hollow circle. 12 The coordinates of .

[0126] When determining the third edge search starting point P 3 After that, the edge finder is controlled to start at the third edge finding starting point P 3 As the starting point, move along the negative direction of the X axis to determine the third target point P on the boundary line of the hollow circle. 13 The coordinates of .

[0127] In determining the fourth edge search starting point P 4 After that, the edge finder is controlled to start at the fourth edge finding starting point P 4 As the starting point, move along the positive direction of the X axis to determine the fourth target point P on the boundary line of the hollow circle. 14 The coordinates of .

[0128] When determining the second edge search starting point P 2 、The third edge search starting point P 3 and the fourth edge search starting point P 4 After that, the edge finder can be controlled to move to the second edge finding starting point P. 2 、The third edge search starting point P 3 and the fourth edge search starting point P 4 , in order to reduce the probability of the edge finder colliding with the circular workpiece.

[0129] In addition, an embodiment of the present application also provides a center positioning device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the center positioning method described in any of the above embodiments are implemented.

[0130] In addition, an embodiment of the present application also provides a laser cutting device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the center positioning method described in any of the above embodiments are implemented.

[0131] In addition, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the circle center positioning method described in any of the above embodiments are implemented.

[0132] In addition, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the circle center positioning method described in any of the above embodiments are implemented.

[0133] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for locating the center of a circle, characterized in that: The circle center positioning method is used to locate the center of a circular workpiece; the circular workpiece has a high-level circular surface, a hollow circle is arranged inside the high-level circular surface, and the center of the hollow circle coincides with the center of the circular workpiece; the diameter of the hollow circle is d1, and the outer diameter of the high-level circular surface is d2; the circle center positioning method includes: Obtain the coordinates P1 (x1, y1) of the first edge search starting point, the diameter d1 of the hollow circle, and the outer diameter d2 of the high-level circular surface; The edge finder is controlled to move along the Y axis toward the hollow circle from the first edge finding starting point P1 as the starting point, so as to determine the coordinates P of the first target point on the boundary line of the hollow circle. 11 (x 11 ,y 11 ) and the coordinates of the second target point P 12 (x 12 ,y 12 ); According to the x 11 , the diameter d1 of the hollow circle and the outer diameter d2 of the high-level circular surface determine x3, and according to the y 11 and the 12 Determine y3 to determine the coordinates P3 (x3, y3) of the third edge search starting point; The edge finder is controlled to move along the X-axis toward the hollow circle with the third edge finding starting point P3 as the starting point, so as to determine the coordinates P of the third target point on the boundary line of the hollow circle. 13 (x 13 ,y 13 ); According to the coordinates P of the first target point 11 (x 11 ,y 11 ), the coordinates P of the second target point 12 (x 12 ,y 12 ) and the coordinates P of the third target point 13 (x 13 ,y 13 ) determine the center coordinates P0 (x0, y0) of the hollow circle; The third edge search starting point P3 is located on the straight line P 11 P 12 On the perpendicular midline of , the first edge search starting point P1 is located on the high-level circular surface; the first target point P 11 The coordinates of the second target point P 12 The coordinates of the third edge-finding starting point P3, the diameter d1 of the hollow circle and the outer diameter d2 of the high-level circular surface satisfy: x3=x 11 +d1 / 2+(d2-d1) / 4; y3=(y 11 +y 12 ) / 2。 2. The circle center positioning method according to claim 1, characterized in that: The coordinates P of the third target point are determined on the boundary line of the hollow circle. 13 After the steps, it also includes: According to the coordinates of the third edge-finding starting point P3 and the coordinates of the third target point P 13 , the diameter d1 of the hollow circle and the outer diameter d2 of the high-level circular surface determine the coordinates P4 (x4, y4) of the fourth edge-finding starting point; The edge finder is controlled to move along the X-axis toward the hollow circle with the fourth edge finding starting point P4 as the starting point, so as to determine the coordinates P of the fourth target point at the boundary line of the hollow circle close to the fourth edge finding starting point P4. 14 (x 14 ,y 14 ); According to the coordinates P of the first target point 11 (x 11 ,y 11 ), the coordinates P of the second target point 12 (x 12 ,y 12 ), the coordinate P of the third target point 13 (x 13 ,y 13 ) and the coordinates of the fourth target point P 14 (x 14 ,y 14 ) determine the center coordinates P0 (x0, y0) of the hollow circle.

3. The method for locating the center of a circle as claimed in claim 2, characterized in that: The third target point P 13 The coordinates of the third edge-finding starting point P3, the coordinates of the fourth edge-finding starting point P4, the diameter d1 of the hollow circle and the outer diameter d2 of the high-level circular surface satisfy: x4=x 13 -d1-(d2-d1) / 4; y4=y3.

4. The method for locating the center of a circle according to claim 1, wherein: The control edge finder takes the first edge finding starting point P1 as the starting point and moves along the Y axis toward the hollow circle to determine the coordinates P of the first target point on the boundary line of the hollow circle. 11 (x 11 ,y 11 ) and the coordinates of the second target point P 12 (x 12 ,y 12 ) steps include: The edge finder is controlled to move along the Y axis toward the hollow circle with the first edge finding starting point P1 as the starting point, so as to determine the coordinates P of the first target point at the boundary line of the hollow circle close to the first edge finding starting point P1. 11 (x 11 ,y 11 ); According to the coordinates P of the first target point 11 , the diameter d1 of the hollow circle and the outer diameter d2 of the high-level circular surface determine the coordinates of the second edge-finding starting point P2 (x2, y2); Control the edge finder to move along the Y axis toward the hollow circle with the second edge finding starting point P2 as the starting point, so as to determine the coordinates P of the second target point at the boundary line of the hollow circle close to the second edge finding starting point P2. 12 (x 12 ,y 12 ).

5. The circle center positioning method according to claim 4, characterized in that: The coordinates P of the first target point 11 , the diameter d1 of the hollow circle and the outer diameter d2 of the high-level circular surface satisfy: x2=x 11 ; <h2 style=";text-align:left;direction:ltr">y2=y<h2 style=";text-align:left;direction:ltr"> 11 <h2 style=";text-align:left;direction:ltr"> +d1+(d2-d1) / 4.

6. The method for locating the center of a circle according to claim 1, wherein: The coordinates P1 of the first edge search starting point, the coordinates P0 of the center of the hollow circle, the diameter d1 of the hollow circle and the outer diameter d2 of the high-level circular surface satisfy: |x1-x0|<(d2-d1) / 4.

7. The circle center positioning method according to claim 1, characterized in that: The coordinates P0 of the center of the hollow circle and the coordinates P1 of the first edge-finding starting point satisfy: y1<y0.

8. A circle center positioning device, characterized in that: The circle center positioning device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the circle center positioning method as claimed in any one of claims 1 to 7 when executed by the processor.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the circle center positioning method according to any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the circle center positioning method as claimed in any one of claims 1 to 7 are implemented.

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