Motion parameter generation method and device

Abstract

The invention provides a motion parameter generation method and device. The method comprises the following steps: importing three-dimensional models of a to-be-detected shell, a tool turret and a gooseneck tool in a collision inspection application; based on first input of a user, determining a tool turret center point of the tool turret in the three-dimensional model of the tool turret, and determining a tool nose position in the three-dimensional model of the first gooseneck tool; based on the actual pose information of the first gooseneck tool, the pose of the three-dimensional model of the first gooseneck tool is adjusted; receiving first coordinate information input by a user; based on the first coordinate information, controlling the three-dimensional model of the first gooseneck tool to move relative to the three-dimensional model of the to-be-detected shell according to a motion path corresponding to the first coordinate information, so as to carry out interference detection, and generating a first interference detection result; and under the condition that the first interference detection result represents that the three-dimensional model of the first gooseneck tool does not interfere in the process of moving relative to the to-be-detected shell, motion parameters of the three-dimensional model of the first gooseneck tool are output.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and particularly to a method and device for generating motion parameters. Background Art

[0002] In related technologies, there are some hollow parts in the shape of a gourd. For example, a differential is a typical part in the automotive industry. Its housing structure is closed and it belongs to a typical gourd-shaped part. The differential housing usually has a small orifice and a large inner cavity. When machining the ball socket of the differential housing on a general-structured lathe, a special gooseneck tool must be used. However, the movement of the gooseneck tool entering the inner cavity is complex. Compared with an ordinary lathe with only X and Z axis linkage, the lathe for machining the ball socket of the differential housing has an additional rotating turret B axis. The process of the tool entering the inner cavity requires three-axis linkage of X, Z, and B axes, and the programming is relatively complex. Even with a machining program, it is still impossible to determine the safety problem of the program, resulting in a problem that it is easy to have interference and collision between the tool and the workpiece. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a method and device for generating motion parameters, which can reduce the risk of interference and collision between the gooseneck tool and the workpiece in the subsequent actual production process, and simplify the process of generating motion parameters.

[0004] This application is implemented as follows:

[0005] In a first aspect, the embodiments of this application provide a method for generating motion parameters, including:

[0006] Import the three-dimensional model of the shell to be measured, the three-dimensional model of the turret, and the three-dimensional models of at least one gooseneck tool into the collision check application, wherein the three-dimensional model of the gooseneck tool is cooperatively connected with the three-dimensional model of the turret, and the at least one gooseneck tool includes a first gooseneck tool;

[0007] Based on the first input of the user, determine the turret center point of the turret in the three-dimensional model of the turret, and determine the tip position in the three-dimensional model of the first gooseneck tool;

[0008] Based on the actual pose information of the first gooseneck tool, adjust the pose of the three-dimensional model of the first gooseneck tool to make the pose of the three-dimensional model of the first gooseneck tool match the actual pose information;

[0009] Receive the first coordinate information input by the user. The motion path of the first gooseneck tool during the machining of the workpiece corresponding to the shell to be measured includes at least two sub-paths. The first coordinate information includes at least two first sub-information corresponding one-to-one to the at least two sub-paths. The first sub-information includes the starting coordinates and ending coordinates of the corresponding sub-path;

[0010] Based on the first coordinate information, control the three-dimensional model of the first gooseneck tool to move relative to the three-dimensional model of the shell to be measured according to the movement path corresponding to the first coordinate information for interference detection, and generate a first interference detection result;

[0011] When the first interference detection result indicates that no interference occurs during the movement of the three-dimensional model of the first gooseneck tool relative to the shell to be measured, output the movement parameters of the three-dimensional model of the first gooseneck tool, where the movement parameters are used as control parameters during the processing of the workpiece corresponding to the shell to be measured by the first gooseneck tool;

[0012] When the first interference detection result indicates that interference occurs during the movement of the three-dimensional model of the first gooseneck tool relative to the shell to be measured, generate the movement parameters based on the first interference detection result and the first coordinate information.

[0013] In a second aspect, an embodiment of the present application provides a device for generating movement parameters, including:

[0014] An import module for importing the three-dimensional model of the shell to be measured, the three-dimensional model of the turret, and the three-dimensional models of at least one gooseneck tool in a collision check application, where the three-dimensional model of the gooseneck tool is cooperatively connected to the three-dimensional model of the turret, and the at least one gooseneck tool includes a first gooseneck tool;

[0015] A determination module for determining the turret center point of the turret in the three-dimensional model of the turret and determining the tip position in the three-dimensional model of the first gooseneck tool based on the first input of the user;

[0016] An attitude adjustment module for adjusting the attitude of the three-dimensional model of the first gooseneck tool based on the actual pose information of the first gooseneck tool to make the attitude of the three-dimensional model of the first gooseneck tool match the actual pose information;

[0017] A receiving module for receiving the first coordinate information input by the user, where the movement path of the first gooseneck tool during the processing of the workpiece corresponding to the shell to be measured includes at least two sub-paths, and the first coordinate information includes at least two first sub-information corresponding one-to-one to the at least two sub-paths, and the first sub-information includes the starting coordinates and ending coordinates of the corresponding sub-path;

[0018] A control module for controlling the three-dimensional model of the first gooseneck tool to move relative to the three-dimensional model of the shell to be measured according to the movement path corresponding to the first coordinate information for interference detection and generating a first interference detection result;

[0019] An output module, configured to output motion parameters of the three-dimensional model of the first gooseneck tool when the first interference detection result indicates that no interference occurs during the movement of the three-dimensional model of the first gooseneck tool relative to the to-be-tested housing, where the motion parameters are used as control parameters during the machining of the workpiece corresponding to the to-be-tested housing by the first gooseneck tool;

[0020] A generation module, configured to generate the motion parameters based on the first interference detection result and the first coordinate information when the first interference detection result indicates that interference occurs during the movement of the three-dimensional model of the first gooseneck tool relative to the to-be-tested housing.

[0021] In a third aspect, an embodiment of the present application further provides an electronic device, including: a transceiver, a memory, a processor, and a program stored on the memory and executable on the processor; the processor is configured to read the program in the memory to implement the steps in the method as described in the first aspect above.

[0022] In a fourth aspect, an embodiment of the present application further provides a readable storage medium for storing a program, where the program, when executed by a processor, implements the steps in the method as described in the first aspect above.

[0023] In a fifth aspect, an embodiment of the present application further provides a computer program product, where the computer program product is stored in a storage medium, and the computer program product is executed by at least one processor to implement the steps in the method as described in the first aspect above.

[0024] In the embodiments of the present application, by performing interference detection based on the three-dimensional models of the to-be-tested housing and the gooseneck tool, and using the motion parameters of the gooseneck tool when no interference occurs with the to-be-tested housing as the parameters for subsequent control of the gooseneck tool, the risk of interference collision between the gooseneck tool and the workpiece during subsequent actual production can be reduced. At the same time, since in this process, the user only needs to input the starting coordinates and ending coordinates of the path, the motion parameters for controlling the gooseneck tool during machining can be finally generated, which is beneficial to simplifying the generation process of the motion parameters. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description in the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1It is one of the flow diagrams of a method for generating motion parameters provided by an embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of the first gooseneck tool during movement along the first sub-path;

[0028] Figure 3 It is a schematic diagram of the first gooseneck tool during movement along the second sub-path;

[0029] Figure 4 It is the second of the flow diagrams of a method for generating motion parameters provided by an embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of the interface of the differential housing machining collision inspection software in an embodiment of the present application;

[0031] Figure 6 It is Figure 5 a partial schematic diagram of the parameter display bar in;

[0032] Figure 7 It is a schematic diagram of the structure of a motion parameter generation device provided by an embodiment of the present application;

[0033] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application;

[0034] Figure 9 It is a schematic diagram of the process of determining the second sub-path in an embodiment of the present application. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application belong to the scope of protection of the present application.

[0036] The terms "first", "second", etc. in this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are usually of the same category, and do not limit the number of objects. For example, the first object can be one or multiple. In addition, "or" in this application means at least one of the connected objects. For example, the protection scope of "A or B" covers at least three scenarios, namely, Scenario 1: including A and not including B; Scenario 2: including B and not including A; Scenario 3: including both A and B. In addition, the terms "A and / or B", "at least one of A and B", and "at least one of A or B" also cover at least the above three scenarios respectively. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0037] The term "indication" in this application can be either a direct indication (or an explicit indication) or an indirect indication (or an implicit indication). Among them, a direct indication can be understood as that the sender clearly informs the receiver of specific information, operations to be performed, or request results, etc. in the sent indication; an indirect indication can be understood as that the receiver determines the corresponding information according to the indication sent by the sender, or makes a judgment and determines the operations to be performed or request results, etc. according to the judgment result.

[0038] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a method for generating motion parameters provided by an embodiment of this application. The method for generating motion parameters includes:

[0039] Step 101, import the three-dimensional model of the housing 300 to be measured, the three-dimensional model of the turret 220, and the three-dimensional models of at least one gooseneck tool into the collision detection application, wherein the three-dimensional model of the gooseneck tool is cooperatively connected with the three-dimensional model of the turret 220, and the at least one gooseneck tool includes a first gooseneck tool 210;

[0040] Step 102, based on the first input of the user, determine the turret center point of the turret 220 in the three-dimensional model of the turret 220, and determine the tip position in the three-dimensional model of the first gooseneck tool 210;

[0041] Step 103, based on the actual pose information of the first gooseneck tool 210, adjust the pose of the three-dimensional model of the first gooseneck tool 210 so that the pose of the three-dimensional model of the first gooseneck tool 210 matches the actual pose information;

[0042] Step 104. Receive the first coordinate information input by the user. Among them, the movement path of the first gooseneck tool 210 during the processing of the workpiece corresponding to the to-be-tested housing 300 includes at least two sub-paths. The first coordinate information includes at least two first sub-informations corresponding one by one to the at least two sub-paths. The first sub-information includes the starting point coordinates and the ending point coordinates of the corresponding sub-path.

[0043] Step 105. Based on the first coordinate information, control the three-dimensional model of the first gooseneck tool 210 to move relative to the three-dimensional model of the to-be-tested housing 300 according to the movement path corresponding to the first coordinate information, so as to perform interference detection and generate a first interference detection result.

[0044] Step 106. In the case that the first interference detection result indicates that no interference occurs during the movement of the three-dimensional model of the first gooseneck tool 210 relative to the to-be-tested housing 300, output the movement parameters of the three-dimensional model of the first gooseneck tool 210. Among them, the movement parameters are used as control parameters during the processing of the workpiece corresponding to the to-be-tested housing 300 by the first gooseneck tool 210.

[0045] Step 107. In the case that the first interference detection result indicates that interference occurs during the movement of the three-dimensional model of the first gooseneck tool 210 relative to the to-be-tested housing 300, generate the movement parameters based on the first interference detection result and the first coordinate information.

[0046] The above-mentioned to-be-tested housing 300 can be various hollow housings in the shape of a gourd. For example, in some embodiments of the present application, the to-be-tested housing 300 is a differential housing. It can be understood that the three-dimensional model of the to-be-tested housing 300 is the three-dimensional model of the to-be-tested housing 300 after processing.

[0047] Among them, the collision check application can be an application dedicated to performing collision detection on the to-be-tested housing 300. In the related art, some types of housings usually have a collision check application adapted to them to perform collision detection on the housing before mass production. For example, when the to-be-tested housing 300 is a differential housing, the collision detection application is a differential housing processing collision check software. Please refer to Figure 5 Figure, which is a schematic diagram of the application interface during the interference detection process of the first gooseneck tool 210 and the differential housing based on the differential housing processing collision check software. For the convenience of understanding, in the following, taking the to-be-tested housing 300 as a differential housing and the collision detection application as Figure 5 the application shown as an example, the method provided in the embodiments of the present application will be further explained.

[0048] It can be understood that the above three-dimensional model refers to a three-dimensional solid model, specifically, it can be a solid model drawn in advance by common three-dimensional modeling software in related technologies.

[0049] The cooperation and connection between the three-dimensional model of the gooseneck tool and the three-dimensional model of the turret 220 may mean that the three-dimensional model of the gooseneck tool and the three-dimensional model of the turret 220 are cooperatively connected by an assembly method. Among them, the three-dimensional model of the gooseneck tool can be telescoped relative to the three-dimensional model of the turret 220 to adjust the length of the tool shank; and the three-dimensional model of the turret 220 can drive the three-dimensional model of the gooseneck tool to move synchronously during the movement process.

[0050] The first input of the above user may include a selection input of the user in the three-dimensional model of the turret 220 and the three-dimensional model of the first gooseneck tool 210. For example, in some embodiments of the present application, based on the first input of the user, the turret center point of the turret 220 is determined in the three-dimensional model of the turret 220, and the tip position is determined in the three-dimensional model of the first gooseneck tool 210, including: when receiving the first click input of the user on the reference plane in the three-dimensional model of the turret 220, determining the turret center point according to the position information of the reference plane; when receiving the second click input of the user on the three-dimensional model of the first gooseneck tool 210, determining the click position of the second click input as the tip position; where the first input includes the first click input and the second click input.

[0051] Among them, the tip position is the position where the first gooseneck tool 210 contacts the differential housing during the machining process of the differential housing. The reference plane can be a pre-determined curved surface or plane whose relative position to the turret center point always remains unchanged. In this way, after determining the position of the reference plane, the position of the turret center point can be determined according to the relative position relationship between the reference plane and the turret center point. For example, please refer to Figure 3 , the reference plane can be the first cylindrical surface 221. Among them, the turret center point can be a pre-set turret center. For example, the center point of the cylinder surrounded by the first cylindrical surface 221 can be determined as the turret center point.

[0052] It can be understood that the user can perform the first input through the configuration interface provided by the differential housing machining collision inspection software. Among them, the configuration interface may include various pre-set parameter configuration options. The user can complete the configuration of each parameter in the configuration interface by inputting or clicking on a specific position in the 3D model. For example, when the user clicks on the tip parameter configuration option, the user can be prompted to select the tip position in the 3D model of the gooseneck tool. After the user selects the tip position of the first gooseneck tool 210 in the 3D model of the gooseneck tool based on the above second click input, the position selected by the user can be determined as the tip position in the 3D model of the first gooseneck tool 210. Accordingly, please refer to Figure 3 , the reference plane can be the first cylindrical surface 221. After the user clicks on the first cylindrical surface 221 through the first click input, the center point of the cylinder enclosed by the first cylindrical surface 221 clicked by the user can be determined as the turret center point.

[0053] The above actual pose information may include the extension dimension of the first gooseneck tool 210 relative to the turret 220 and the initial swing angle of the first gooseneck tool 210. Specifically, there may be a deviation between the relative position of the imported 3D model and the actual installation position of the tool on the machine tool. Therefore, it is necessary to adjust the shank length of the first gooseneck tool 210 in the 3D model to be consistent with the actual machine tool installation. Specifically, the adjustment process of the extension dimension of the first gooseneck tool 210 may include the following steps: (1) Select a measurement point on the first gooseneck tool 210. The measurement point can be any point on the blade back of the first gooseneck tool 210; (2) Select a reference plane on the turret 220. Among them, please refer to Figure 3 , the reference plane can be the first plane 224; (3) Calculate the shortest distance from the measurement point of the first gooseneck tool 210 to the reference plane of the turret 220. Subtract the extension distance of the first gooseneck tool 210 relative to the turret 220 in the model from the actual measurement distance of the first gooseneck tool 210 on the machine tool, and the distance that the 3D model of the first gooseneck tool 210 needs to move can be obtained; (4) Move the first gooseneck tool 210 according to the above required moving distance, so as to adjust it to be consistent with the tool actually installed on the machine tool.

[0054] In addition, the postures of the first gooseneck tools 210 used during machining are various. Therefore, it is necessary to adjust the appropriate tool swing angle according to the actual posture and actual swing angle of the first gooseneck tool in the machine tool to facilitate the subsequent teaching of the path of the first gooseneck tool 210. Set the corresponding initial swing angle of the first gooseneck tool, and swing the first gooseneck tool and the turret 220 to the set position along the tip point.

[0055] It should be noted that the path of the first gooseneck tool 210 during the machining of the differential housing is relatively fixed. For example, please refer toFigure 2 During the process of machining the differential housing, the path is usually composed of a straight-line path and an arc-shaped curve path. Specifically, it first moves along the straight line a→b, and then moves along the arc-shaped curve b→c. In this case, the first coordinate information may include the coordinates of three position points a, b, and c. Specifically, the user can select the three position points a, b, and c in the three-dimensional model of the housing 300 to be measured through teaching. Specifically, during the process of the user interacting with the collision detection application, the user can be prompted to select the starting point and the ending point of the straight-line path in sequence. At this time, the user can select two position points in the three-dimensional model of the housing 300 to be measured by clicking in sequence. Then, the collision detection application can determine the starting point coordinates and the ending point coordinates of the straight-line path according to the user's click positions. Then, the user can be prompted to select the ending point of the arc-shaped curve path. The user can again select a position point in the three-dimensional model of the housing 300 to be measured by clicking input. Then, the collision detection application can determine the ending point coordinates of the arc-shaped curve path according to the user's click position. It can be understood that a three-dimensional coordinate system is pre-created in the collision detection application, and the starting point coordinates and the ending point coordinates are the coordinates in the three-dimensional coordinate system. Moreover, since the movement process of the first gooseneck tool 210 is continuous, the collision detection application can default to determine the ending point coordinates of the straight-line path as the starting point coordinates of the arc-shaped curve path.

[0056] For example, the following takes the coordinate input process of the third sub-path among the at least two sub-paths as an example to further explain the coordinate input process of each sub-path. Among them, the receiving of the first coordinate information input by the user includes: in the case of receiving the third click input by the user inside the three-dimensional model of the housing 300 to be measured, determining the coordinates of the position clicked by the third click input as the starting point coordinates of the third sub-path, where the third sub-path is any one of the at least two sub-paths; in the case of receiving the fourth click input by the user inside the three-dimensional model of the housing 300 to be measured, determining the coordinates of the position clicked by the fourth click input as the ending point coordinates of the third sub-path, and determining the coordinates of the position clicked by the fourth click input as the starting point coordinates of the next sub-path of the third sub-path. It can be understood that when the user has also selected the starting point coordinates and the ending point coordinates of other sub-paths before the third sub-path, the third click input can also be used as the input for selecting the ending point coordinates of the previous sub-input on the third sub-path.

[0057] Controlling the three-dimensional model of the first gooseneck tool 210 to move relative to the three-dimensional model of the housing 300 to be measured along the movement path corresponding to the first coordinate information based on the first coordinate information to perform interference detection and generate a first interference detection result may include:

[0058] Determine the motion path based on the first coordinate information;

[0059] Discretize the motion path to obtain path parameter information, where the path parameter information includes the coordinate information of multiple position points in the motion path;

[0060] Based on the motion parameters, control the three-dimensional model of the first gooseneck tool 210 to move relative to the three-dimensional model of the shell under test 300 along the motion path corresponding to the first coordinate information for interference detection, and generate a first interference detection result.

[0061] Among them, the determining the motion path based on the first coordinate information may include: determining each sub-path according to the start coordinate and end coordinate of each sub-path. For example, in some embodiments of the present application, the at least two sub-paths include a first sub-path and a second sub-path. When the first sub-path is a straight path, the start coordinate and end coordinate of the first sub-path can be directly connected to determine the first sub-path. When the second sub-path is an arc path, after determining the start coordinate and end coordinate of the second sub-path, move the tip point of the first gooseneck tool 210 to the positions indicated by the start coordinate and end coordinate of the second sub-path, and record the position coordinate of the turret center point when the tip point of the first gooseneck tool 210 is located at the position indicated by the start coordinate of the second sub-path, and record the position coordinate of the turret center point when the tip point of the first gooseneck tool 210 is located at the position indicated by the end coordinate of the second sub-path. Please refer to Figure 9 , point b is the start coordinate of the second sub-path; point c is the end coordinate of the second sub-path; point d is the position coordinate of the turret center point when the tip point of the first gooseneck tool 210 is located at the position indicated by the start coordinate of the second sub-path; point e is the position coordinate of the turret center point when the tip point of the first gooseneck tool 210 is located at the position indicated by the end coordinate of the second sub-path; when determining the arc corresponding to the second sub-path, line segments bc and de can be respectively connected, and then the perpendicular bisectors of line segments bc and de are respectively made, and the intersection point f of the perpendicular bisectors of line segments bc and de is determined as the center coordinate point of the arc corresponding to the second sub-path, and then, in this way, the arc curve bc in Figure 9 can be drawn according to the center coordinate point f and the points b and c on the arc, and the arc curve bc is determined as the second sub-path.

[0062] In some other embodiments of the present application, when the second sub-path is an arc-shaped path, after determining the starting coordinate and the ending coordinate of the second sub-path, the rotation position point around which the first gooseneck tool 210 actually performs arc machining can be determined in advance, and the target position point corresponding to the rotation position point can be determined in the three-dimensional model. The target position point is used to represent the position of the rotation position point in the three-dimensional model. Then, with the target position point as the center of the circle, an arc is drawn through the starting coordinate and the ending coordinate of the second sub-path, and thus the second sub-path can be obtained. In addition, in some other embodiments of the present application, an arc can also be drawn through the starting coordinate and the ending coordinate of the second sub-path according to the arc radius input by the user or the arc radius preset by the system, and thus the second sub-path can be obtained.

[0063] Please refer to Figure 6 , after receiving the first coordinate information input by the user, the user can directly click the "Generate Trajectory" control, and thus the motion path can be generated.

[0064] The above-mentioned discretization process of the motion path to obtain path parameter information can specifically be to perform a discretization process on the motion path according to the discretization function provided by the collision check application. Among them, the discretization process can refer to equally dividing the motion path according to the set number of points, and determining the equally divided points in the motion path as discrete points. The path parameter information can include the coordinates of each discrete point. In some embodiments of the present application, each sub-path can be discretized respectively to obtain the path parameter information. For example, please refer to Figure 6 , the number of straight-line points can be set to 5, and the number of arc points can be set to 20. Among them, the number of straight-line points being 5 means that the above-mentioned first sub-path is divided into four equal parts, and the three equally divided points after the four equal divisions and the starting and ending position points of the first sub-path are determined as 5 discrete points, and the position coordinates of the 5 discrete points are obtained. The position coordinates of the 5 discrete points are used as the motion parameters corresponding to the first sub-path in the motion parameters; correspondingly, the number of arc points being 20 means that the second sub-path is divided into 19 equal parts, and the 18 equally divided points after the 19 equal divisions and the starting and ending position points of the second sub-path are determined as 20 discrete points, and the position coordinates of the 20 discrete points are obtained. The position coordinates of the 20 discrete points are used as the motion parameters corresponding to the second sub-path in the motion parameters.

[0065] It can be understood that the above-mentioned path parameter information can include not only the coordinates of each discrete point but also the serial numbers of each discrete point. Among them, during the interference detection process, the tip point of the first gooseneck tool 210 can pass through each discrete point in sequence according to the serial numbers of the discrete points.

[0066] Specific implementation process of controlling the 3D model of the first gooseneck tool 210 to move along the motion path corresponding to the first coordinate information relative to the 3D model of the shell under test 300 based on the above motion parameters for interference detection and generating the first interference detection result may include: controlling the tip point of the 3D model of the first gooseneck tool 210 to move to each discrete point in sequence according to the serial number of the discrete points, wherein the movement of the tip point between two adjacent discrete points may be a linear motion.

[0067] It should be noted that during the movement of the 3D model of the first gooseneck tool 210 relative to the 3D model of the shell under test 300, the collision detection application can continuously calculate whether there is interference between the 3D model of the first gooseneck tool 210 and the 3D model of the shell under test 300, and in the case of determining that there is interference between the 3D model of the first gooseneck tool 210 and the 3D model of the shell under test 300, display the position where the interference occurs through a special mark, wherein the special mark can be to mark the interfering area in red in the 3D models of the first gooseneck tool 210 and the shell under test 300. So that the user can intuitively view the position where the interference occurs.

[0068] Among them, the continuous calculation of whether there is interference between the 3D model of the first gooseneck tool 210 and the 3D model of the shell under test 300 may include: when the first gooseneck tool 210 moves to the discrete point, calculating the 3D model of the first gooseneck tool 210 and the 3D model of the shell under test 300, and when there is an intersection area between the two, determining that there is interference between the two at this position.

[0069] Among them, please refer to Figure 6 , the collision detection application may include an "automatic simulation" control and a "manual simulation" control. When the user clicks the "automatic simulation" control, it can control the tip point of the 3D model of the first gooseneck tool 210 to move from the starting coordinate of the motion path to the ending coordinate of the path motive according to the serial number of the discrete points. When the user clicks the "manual simulation" control once, it only controls the tip point of the 3D model of the first gooseneck tool 210 to move from the current discrete point to the next discrete point. During the interference detection process, the position where the interference occurs can be determined first through the "automatic simulation" control, and then the first gooseneck tool 210 can be controlled to move to the determined position where the interference occurs through the "manual simulation" control to verify whether the interference actually occurs.

[0070] In this embodiment, by performing interference detection based on the 3D models of the shell 300 to be measured and the gooseneck tool, and using the motion parameters of the gooseneck tool when there is no interference with the shell 300 to be measured as the parameters for subsequent control of the gooseneck tool, the risk of interference and collision between the gooseneck tool and the workpiece during actual production can be reduced. At the same time, in this process, the user only needs to input the starting coordinates and ending coordinates of the path, and finally the motion parameters for controlling the gooseneck tool during machining can be generated. This simplifies the generation process of the motion parameters.

[0071] Optionally, when the first interference detection result indicates that the 3D model of the first gooseneck tool 210 interferes during the movement relative to the shell 300 to be measured, generating the motion parameters based on the first interference detection result and the first coordinate information includes:

[0072] When the first interference detection result indicates that the 3D model of the first gooseneck tool 210 interferes during the movement relative to the shell 300 to be measured, updating the first coordinate information based on the first interference detection result to obtain second coordinate information, where the second coordinate information includes at least two second sub-information corresponding to the at least two sub-paths one by one, and the second sub-information includes the starting coordinates and ending coordinates of the corresponding sub-path;

[0073] Based on the second coordinate information, controlling the 3D model of the first gooseneck tool 210 to move relative to the 3D model of the shell 300 to be measured along the motion path corresponding to the second coordinate information for interference detection, and generating a second interference detection result;

[0074] When the second interference detection result indicates that the 3D model of the first gooseneck tool 210 does not interfere during the movement relative to the shell 300 to be measured, outputting the motion parameters of the 3D model of the first gooseneck tool 210, where the motion parameters are used as the control parameters for the first gooseneck tool 210 during machining the workpiece corresponding to the shell 300 to be measured;

[0075] When the second interference detection result indicates that the 3D model of the first gooseneck tool 210 interferes during the movement relative to the shell 300 to be measured, generating the motion parameters based on the second interference detection result and the second coordinate information.

[0076] Among them, the update of the first coordinate information based on the first interference detection result to obtain the second coordinate information can specifically be: updating the first coordinate information based on the first interference detection result according to experience to obtain the second coordinate information. For example, when the first gooseneck tool 210 interferes with the to-be-tested housing 300 at the end point of a certain sub-path, the position of the end point of this sub-path can be changed. Specifically, the distance between the end point of this path and the to-be-tested housing 300 can be increased to obtain the second coordinate information. Also for example, when the first gooseneck tool 210 interferes with the to-be-tested housing 300 at the start point of a certain sub-path, the position of the start point of this sub-path can be changed. Specifically, the distance between the start point of this path and the to-be-tested housing 300 can be increased to obtain the second coordinate information. Also for example, when the first gooseneck tool 210 interferes with the to-be-tested housing 300 at a position in the middle of a certain sub-path, the distance between the end point of this path and the to-be-tested housing 300 can be increased, and at the same time, the distance between the start point of this path and the to-be-tested housing 300 can be increased.

[0077] It should be noted that the specific implementation process of "controlling the 3D model of the first gooseneck tool 210 to move relative to the 3D model of the to-be-tested housing 300 according to the movement path corresponding to the second coordinate information based on the second coordinate information for interference detection" is similar to the implementation process of "controlling the 3D model of the first gooseneck tool 210 to move relative to the 3D model of the to-be-tested housing 300 according to the movement path corresponding to the first coordinate information based on the first coordinate information for interference detection" in the above embodiment. To avoid repetition, it will not be elaborated here.

[0078] The generation of the motion parameters based on the second interference detection result and the second coordinate information refers to: updating the second coordinate information based on the second interference detection result to obtain the third coordinate information, controlling the 3D model of the first gooseneck tool 210 to move relative to the 3D model of the to-be-tested housing 300 according to the movement path corresponding to the third coordinate information for interference detection, and generating the third interference detection result; when the third interference detection result indicates that the 3D model of the first gooseneck tool 210 does not interfere during the movement relative to the to-be-tested housing 300, outputting the motion parameters of the 3D model of the first gooseneck tool 210, where the motion parameters are used as control parameters during the processing of the workpiece corresponding to the to-be-tested housing 300 by the first gooseneck tool 210.

[0079] It can be understood that in the case where the interference detection result indicates that the 3D model of the first gooseneck tool 210 interferes during the movement relative to the housing 300 to be measured, the above coordinate information can be iteratively updated according to the interference detection result until the interference detection result indicates that the 3D model of the first gooseneck tool 210 does not interfere during the movement relative to the housing 300 to be measured, and the motion parameters of the last movement of the 3D model of the first gooseneck tool 210 are output.

[0080] In this embodiment, in the case where the first interference detection result indicates that the 3D model of the first gooseneck tool 210 interferes during the movement relative to the housing 300 to be measured, the first coordinate information is updated based on the first interference detection result to obtain second coordinate information, and based on the second coordinate information, the 3D model of the first gooseneck tool 210 is controlled to move relative to the 3D model of the housing 300 to be measured along the movement path corresponding to the second coordinate information for interference detection, and a second interference detection result is generated. In the case where the second interference detection result indicates that the 3D model of the first gooseneck tool 210 does not interfere during the movement relative to the housing 300 to be measured, the motion parameters of the 3D model of the first gooseneck tool 210 are output. Thus, it is beneficial to improve the accuracy of the generated motion parameters and reduce the risk of interference between the first gooseneck tool 210 and the housing 300 to be measured during subsequent production.

[0081] Optionally, the at least two sub-paths include a first path and a second path, wherein the first path is a straight path and the second path is an arc path;

[0082] The motion parameters include:

[0083] The starting point coordinates of the first path;

[0084] The ending point coordinates of the first path;

[0085] During the movement of the first gooseneck tool 210 along the first path, the coordinate information of the turret center point at each position;

[0086] The starting point coordinates of the second path;

[0087] The ending point coordinates of the second path;

[0088] During the movement of the first gooseneck tool 210 along the second path, the coordinate information of the turret center point at each position;

[0089] The radius of the second path.

[0090] In this embodiment, the motion parameters include: the starting coordinates of the first path; the ending coordinates of the first path; the coordinate information of the center point of the turret at each position during the movement of the first gooseneck tool 210 along the first path; the starting coordinates of the second path; the ending coordinates of the second path; the coordinate information of the center point of the turret at each position during the movement of the first gooseneck tool 210 along the second path; the radius of the second path. Thus, in the subsequent production process, the movement of the first gooseneck tool 210 can be accurately controlled according to the motion parameters, thereby reducing the risk of interference between the first gooseneck tool 210 and the shell 300 to be measured in the subsequent production process.

[0091] Optionally, the at least one gooseneck tool further includes a second gooseneck tool, where the second gooseneck tool is other gooseneck tool except the first gooseneck tool 210. After generating the motion parameters based on the first interference detection result and the first coordinate information, the method further includes:

[0092] Controlling the three-dimensional model of the turret 220 to drive the three-dimensional models of the at least one gooseneck tool to rotate so that the second gooseneck tool moves to the machining position;

[0093] Performing interference detection on the second gooseneck tool and outputting the motion parameters of the three-dimensional model of the second gooseneck tool based on the interference detection result.

[0094] Since different gooseneck tools may need to be replaced for different positions of the differential housing during the machining of the differential housing by a lathe, during the collision check based on the collision check application, the 3D models of all the gooseneck tools required during the machining of the differential housing by the lathe can be imported into the collision check application. Thus, after the interference detection of the first gooseneck tool 210 and the generation of the motion parameters are completed based on the method of the above embodiment. The 3D model of the turret 220 can be controlled to drive the 3D model of at least one gooseneck tool to rotate so that the second gooseneck tool moves to the machining position. Then, based on the same method as "interference detection and generation of motion parameters" for the first gooseneck tool 210 in the above embodiment, "interference detection and generation of motion parameters" can be performed on the second gooseneck tool. The difference is that in step 102 above, the first input determines: the center point of the turret of the turret 220, and the tip position is determined in the 3D model of the second gooseneck tool; in step 103 above, it is: based on the actual pose information of the second gooseneck tool, the pose of the 3D model of the second gooseneck tool is adjusted so that the pose of the 3D model of the second gooseneck tool matches the actual pose information; the first coordinate information in step 104 is the starting coordinates and ending coordinates of each sub-path in at least two sub-paths of the motion path of the second gooseneck tool during the machining of the workpiece corresponding to the to-be-tested housing 300. It should be noted that the "motion path of the second gooseneck tool during the machining of the workpiece corresponding to the to-be-tested housing 300" may be different from the "motion path of the first gooseneck tool 210 during the machining of the workpiece corresponding to the to-be-tested housing 300", so accordingly, the coordinate information input by the user may also be different. In addition, the specific action processes of both for "interference detection and generation of motion parameters" are similar. To avoid repetition, they will not be elaborated here.

[0095] The movement of the second gooseneck tool to the machining position as described above may refer to controlling the second gooseneck tool to move to a position opposite to the to-be-tested housing 300.

[0096] In this embodiment, after the motion parameters are generated based on the first interference detection result and the first coordinate information, the 3D model of the turret 220 is controlled to drive the 3D model of at least one gooseneck tool to rotate so that the second gooseneck tool moves to the machining position; interference detection is performed on the second gooseneck tool, and the motion parameters of the 3D model of the second gooseneck tool are output based on the interference detection result. Thus, interference detection can be sequentially performed on all the gooseneck tools required during the machining of the differential housing by the lathe, and at the same time, the motion parameters of each gooseneck tool can be output, which is beneficial to further simplifying the interference detection process and the generation process of the motion parameters.

[0097] Please refer to Figure 4 , Figure 4 which is a schematic flowchart of a method for generating motion parameters provided by an embodiment of the present application. The method for generating motion parameters includes the following steps:

[0098] Import the 3D models of the housing 300 to be measured, the turret 220, and the gooseneck tool;

[0099] Determine the tip point of the first gooseneck tool 210 and the center point of the turret;

[0100] Adjust the length of the tool shank in the 3D model to be consistent with the actual installation;

[0101] Adjust the initial swing angle of the first gooseneck tool 210;

[0102] Teach the start and end points of the straight path and the circular arc path;

[0103] Discretize the path;

[0104] Check for collisions;

[0105] In the case of a collision, return to the step "Teach the start and end points of the straight path and the circular arc path";

[0106] In the case of no collision, output the motion parameters of the first gooseneck tool 210;

[0107] Detect whether there is a next tool;

[0108] If so, control the turret 220 to rotate to the next tool, and return to the step "Determine the tip point of the first gooseneck tool 210 and the center point of the turret" to generate the motion parameters of the next tool;

[0109] If not, end.

[0110] In this embodiment, the specific implementation processes of each step are similar to those of the above embodiment. To avoid repetition, they will not be elaborated here.

[0111] Please refer to Figure 7 , Figure 7 which is a structural interpretation of a device 700 for generating motion parameters provided by an embodiment of the present application. The device 700 for generating motion parameters includes:

[0112] An import module 701, configured to import the 3D model of the housing 300 to be measured, the 3D model of the turret 220, and the 3D models of at least one gooseneck tool in a collision inspection application, wherein the 3D model of the gooseneck tool is cooperatively connected with the 3D model of the turret 220, and the at least one gooseneck tool includes the first gooseneck tool 210;

[0113] A determination module 702, configured to determine a turret center point of the turret 220 in a three-dimensional model of the turret 220 and a tip position in a three-dimensional model of the first gooseneck tool 210 based on a first input of a user.

[0114] An attitude adjustment module 703, configured to adjust the attitude of the three-dimensional model of the first gooseneck tool 210 based on the actual pose information of the first gooseneck tool 210, so that the attitude of the three-dimensional model of the first gooseneck tool 210 matches the actual pose information.

[0115] A receiving module 704, configured to receive first coordinate information input by a user. The movement path of the first gooseneck tool 210 during machining of a workpiece corresponding to the to-be-tested housing 300 includes at least two sub-paths. The first coordinate information includes at least two first sub-information corresponding one-to-one to the at least two sub-paths. The first sub-information includes a starting point coordinate and an ending point coordinate of the corresponding sub-path.

[0116] A control module 705, configured to control the three-dimensional model of the first gooseneck tool 210 to move relative to the three-dimensional model of the to-be-tested housing 300 according to the movement path corresponding to the first coordinate information, so as to perform interference detection and generate a first interference detection result.

[0117] An output module 706, configured to output movement parameters of the three-dimensional model of the first gooseneck tool 210 when the first interference detection result indicates that no interference occurs during the movement of the three-dimensional model of the first gooseneck tool 210 relative to the to-be-tested housing 300. The movement parameters are used as control parameters of the first gooseneck tool 210 during machining of a workpiece corresponding to the to-be-tested housing 300.

[0118] A generation module 707, configured to generate the movement parameters based on the first interference detection result and the first coordinate information when the first interference detection result indicates that interference occurs during the movement of the three-dimensional model of the first gooseneck tool 210 relative to the to-be-tested housing 300.

[0119] Optionally, the generation module 707 is specifically configured to perform the following steps:

[0120] In the case that the first interference detection result indicates interference occurs during the movement of the three-dimensional model of the first gooseneck tool 210 relative to the shell under test 300, update the first coordinate information based on the first interference detection result to obtain second coordinate information, where the second coordinate information includes at least two second sub-information corresponding one-to-one to the at least two sub-paths, and the second sub-information includes the starting coordinates and ending coordinates of the corresponding sub-path;

[0121] Based on the second coordinate information, control the three-dimensional model of the first gooseneck tool 210 to move relative to the three-dimensional model of the shell under test 300 along the movement path corresponding to the second coordinate information for interference detection, and generate a second interference detection result;

[0122] In the case that the second interference detection result indicates no interference occurs during the movement of the three-dimensional model of the first gooseneck tool 210 relative to the shell under test 300, output the movement parameters of the three-dimensional model of the first gooseneck tool 210, where the movement parameters are used as control parameters during the machining of the workpiece corresponding to the shell under test 300 by the first gooseneck tool 210;

[0123] In the case that the second interference detection result indicates interference occurs during the movement of the three-dimensional model of the first gooseneck tool 210 relative to the shell under test 300, generate the movement parameters based on the second interference detection result and the second coordinate information.

[0124] Optionally, the at least two sub-paths include a first path and a second path, where the first path is a straight path and the second path is an arc path;

[0125] The movement parameters include:

[0126] The starting coordinates of the first path;

[0127] The ending coordinates of the first path;

[0128] During the movement of the first gooseneck tool 210 along the first path, the coordinate information of the turret center point at each position;

[0129] The starting coordinates of the second path;

[0130] The ending coordinates of the second path;

[0131] During the movement of the first gooseneck tool 210 along the second path, the coordinate information of the turret center point at each position;

[0132] The radius of the second path.

[0133] Optionally, the actual pose information includes the extension dimension of the first gooseneck tool 210 relative to the turret 220 and the initial swing angle of the first gooseneck tool 210.

[0134] Optionally, the determining module 702 is specifically configured to determine the turret center point according to the position information of the reference plane when receiving a first click input of the user on the reference plane in the three-dimensional model of the turret 220.

[0135] The determining module 702 is further specifically configured to determine the click position of the second click input as the tip position when receiving a second click input of the user on the three-dimensional model of the first gooseneck tool 210.

[0136] Wherein, the first input includes the first click input and the second click input.

[0137] Optionally, the control module 705 is specifically configured to perform the following steps:

[0138] Determine the motion path based on the first coordinate information;

[0139] Perform discretization processing on the motion path to obtain path parameter information, where the path parameter information includes the coordinate information of multiple position points in the motion path;

[0140] Control the three-dimensional model of the first gooseneck tool 210 to move relative to the three-dimensional model of the to-be-tested housing 300 according to the motion path corresponding to the first coordinate information based on the motion parameters, so as to perform interference detection, and generate a first interference detection result.

[0141] Optionally, the receiving module 704 is configured to determine the coordinate of the position clicked by the third click input as the starting coordinate of the third sub-path when receiving a third click input of the user inside the three-dimensional model of the to-be-tested housing 300, where the third sub-path is any one of the at least two sub-paths;

[0142] The receiving module 704 is further configured to determine the coordinate of the position clicked by the fourth click input as the ending coordinate of the third sub-path, and determine the coordinate of the position clicked by the fourth click input as the starting coordinate of the next sub-path of the third sub-path when receiving a fourth click input of the user inside the three-dimensional model of the to-be-tested housing 300.

[0143] Optionally, the to-be-tested housing 300 is a differential housing.

[0144] The embodiment of the present application further provides an electronic device. Please refer toFigure 8 An electronic device may include a processor 801, a memory 802, and a program 8021 stored on the memory 802 and executable on the processor 801.

[0145] When the electronic device is a terminal, when the program 8021 is executed by the processor 801, it can implement Figure 1 any step in the corresponding method embodiment and achieve the same beneficial effects, which will not be elaborated here.

[0146] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the program can be stored in a readable medium. An embodiment of the present application also provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it can implement any step in the above Figure 1 corresponding method embodiment and achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0147] The storage medium may be, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc.

[0148] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0149] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0150] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them fall within the protection scope of the present application.

Claims

1. A method for generating motion parameters, characterized in that, Including: Importing the 3D model of the shell to be measured, the 3D model of the turret, and the 3D models of at least one gooseneck tool into the collision detection application, wherein the 3D model of the gooseneck tool is cooperatively connected with the 3D model of the turret, and the at least one gooseneck tool includes a first gooseneck tool; Based on the user's first input, determining the center point of the turret in the 3D model of the turret, and determining the tip position in the 3D model of the first gooseneck tool; Based on the actual pose information of the first gooseneck tool, adjusting the pose of the 3D model of the first gooseneck tool so that the pose of the 3D model of the first gooseneck tool matches the actual pose information; Receiving the first coordinate information input by the user, wherein the movement path of the first gooseneck tool during the machining of the workpiece corresponding to the shell to be measured includes at least two sub-paths, and the first coordinate information includes at least two first sub-information corresponding one-to-one to the at least two sub-paths, and the first sub-information includes the starting coordinates and the ending coordinates of the corresponding sub-path; Based on the first coordinate information, controlling the 3D model of the first gooseneck tool to move relative to the 3D model of the shell to be measured according to the movement path corresponding to the first coordinate information for interference detection, and generating a first interference detection result; When the first interference detection result indicates that no interference occurs during the movement of the 3D model of the first gooseneck tool relative to the shell to be measured, outputting the movement parameters of the 3D model of the first gooseneck tool, wherein the movement parameters are used as control parameters during the machining of the workpiece corresponding to the shell to be measured by the first gooseneck tool; When the first interference detection result indicates that interference occurs during the movement of the 3D model of the first gooseneck tool relative to the shell to be measured, generating the movement parameters based on the first interference detection result and the first coordinate information.

2. The method according to claim 1, characterized in that, The step of generating the movement parameters based on the first interference detection result and the first coordinate information when the first interference detection result indicates that interference occurs during the movement of the 3D model of the first gooseneck tool relative to the shell to be measured includes: When the first interference detection result indicates that interference occurs during the movement of the 3D model of the first gooseneck tool relative to the shell to be measured, updating the first coordinate information based on the first interference detection result to obtain second coordinate information, wherein the second coordinate information includes at least two second sub-information corresponding one-to-one to the at least two sub-paths, and the second sub-information includes the starting coordinates and the ending coordinates of the corresponding sub-path; Based on the second coordinate information, controlling the 3D model of the first gooseneck tool to move relative to the 3D model of the shell to be measured according to the movement path corresponding to the second coordinate information for interference detection, and generating a second interference detection result; When the second interference detection result indicates that there is no interference during the movement of the three-dimensional model of the first gooseneck tool relative to the shell under test, output the motion parameters of the three-dimensional model of the first gooseneck tool, where the motion parameters are used as control parameters during the machining of the workpiece corresponding to the shell under test by the first gooseneck tool; When the second interference detection result indicates that interference occurs during the movement of the three-dimensional model of the first gooseneck tool relative to the shell under test, generate the motion parameters based on the second interference detection result and the second coordinate information.

3. The method according to claim 1, characterized in that The at least two sub-paths include a first path and a second path, where the first path is a straight path and the second path is an arc path; The motion parameters include: The starting coordinates of the first path; The ending coordinates of the first path; During the movement of the first gooseneck tool along the first path, the coordinate information of the turret center point at each position; The starting coordinates of the second path; The ending coordinates of the second path; During the movement of the first gooseneck tool along the second path, the coordinate information of the turret center point at each position; The radius of the second path.

4. The method according to any one of claims 1 to 3, characterized in that, The actual pose information includes the extension dimension of the first gooseneck tool relative to the turret and the initial swing angle of the first gooseneck tool.

5. The method according to any one of claims 1 to 3, characterized in that The determining the turret center point of the turret in the three-dimensional model of the turret and determining the tool tip position in the three-dimensional model of the first gooseneck tool based on the first input of the user includes: When receiving the first click input on the reference plane in the three-dimensional model of the turret, determine the turret center point according to the position information of the reference plane; When receiving the second click input on the three-dimensional model of the first gooseneck tool, determine the click position of the second click input as the tool tip position; Wherein, the first input includes the first click input and the second click input.

6. The method according to any one of claims 1 to 3, characterized in that The controlling the three-dimensional model of the first gooseneck tool to move relative to the three-dimensional model of the shell under test along the motion path corresponding to the first coordinate information based on the first coordinate information for interference detection and generating a first interference detection result includes: Determine the motion path based on the first coordinate information; Perform discretization processing on the motion path to obtain path parameter information, where the path parameter information includes the coordinate information of multiple position points in the motion path; Control the three-dimensional model of the first gooseneck tool to move relative to the three-dimensional model of the shell under test along the motion path corresponding to the first coordinate information based on the motion parameters for interference detection and generate a first interference detection result.

7. The method according to any one of claims 1 to 3, characterized in that, The receiving the first coordinate information input by the user includes: In the case of receiving a third click input inside the three-dimensional model of the to-be-tested housing, determine the coordinates of the position clicked by the third click input as the starting coordinates of a third sub-path, where the third sub-path is any one of the at least two sub-paths; In the case of receiving a fourth click input inside the three-dimensional model of the to-be-tested housing, determine the coordinates of the position clicked by the fourth click input as the ending coordinates of the third sub-path, and determine the coordinates of the position clicked by the fourth click input as the starting coordinates of the next sub-path of the third sub-path.

8. The method according to any one of claims 1 to 3, characterized in that, The to-be-tested housing is a differential housing.

9. The method according to any one of claims 1 to 3, characterized in that, The at least one gooseneck tool further includes a second gooseneck tool, where the second gooseneck tool is other gooseneck tools other than the first gooseneck tool. After generating the motion parameters based on the first interference detection result and the first coordinate information, the method further includes: Controlling the three-dimensional model of the turret to drive the three-dimensional models of the at least one gooseneck tool to rotate so that the second gooseneck tool moves to the machining position; Performing interference detection on the second gooseneck tool and outputting the motion parameters of the three-dimensional model of the second gooseneck tool based on the interference detection result.

10. A generating device for motion parameters, characterized in that, Including: An import module for importing the three-dimensional model of the to-be-tested housing, the three-dimensional model of the turret, and the three-dimensional models of at least one gooseneck tool in a collision check application, where the three-dimensional model of the gooseneck tool is cooperatively connected with the three-dimensional model of the turret, and the at least one gooseneck tool includes a first gooseneck tool; A determination module for determining the turret center point of the turret in the three-dimensional model of the turret and determining the tip position in the three-dimensional model of the first gooseneck tool based on the first input of the user; An attitude adjustment module for adjusting the pose of the three-dimensional model of the first gooseneck tool based on the actual pose information of the first gooseneck tool so that the pose of the three-dimensional model of the first gooseneck tool matches the actual pose information; A receiving module for receiving the first coordinate information input by the user, where the motion path of the first gooseneck tool during machining the workpiece corresponding to the to-be-tested housing includes at least two sub-paths, the first coordinate information includes at least two first sub-information corresponding one-to-one to the at least two sub-paths, and the first sub-information includes the starting coordinates and the ending coordinates of the corresponding sub-path; A control module for controlling the three-dimensional model of the first gooseneck tool to move relative to the three-dimensional model of the to-be-tested housing according to the motion path corresponding to the first coordinate information based on the first coordinate information to perform interference detection and generate a first interference detection result; An output module for outputting the motion parameters of the three-dimensional model of the first gooseneck tool in the case where the first interference detection result indicates that no interference occurs during the movement of the three-dimensional model of the first gooseneck tool relative to the to-be-tested housing, where the motion parameters are used as control parameters during the machining of the workpiece corresponding to the to-be-tested housing by the first gooseneck tool; A generation module, configured to generate the motion parameters based on the first interference detection result and the first coordinate information in a case where the first interference detection result indicates that interference occurs during the movement of the three-dimensional model of the first gooseneck tool relative to the shell under test.

Images