Calibration-free three-axis arc interpolation method, device and equipment and storage medium

Abstract

The invention relates to the technical field of trajectory planning, and discloses a calibration-free triaxial arc interpolation method, device and equipment and a storage medium, and the method comprises the steps: employing arc interpolation to obtain an arc planning path as a first array according to a teaching point; the length of the tool is set as a first constant, and an arc planning path is obtained through arc interpolation according to the teaching point and the first constant and serves as a second array; and drawing a circle by taking the track point in the second array as a circle center and the first constant as a radius. The method comprises the following steps: completing arc interpolation according to a starting point, a middle point and an end point of an arc on a workpiece, storing an arc planning path as a first array, assuming that the length of a tool is a first constant, calculating a new arc planning path according to the three points, storing the new arc planning path as a second array, traversing track points of the second array, and taking each track point as a circle center, a circle with the radius being the first constant is made, the intersection point of the circle and the first array is detected, the deviation angle is calculated according to the intersection point, and when the tool works, the deviation angle is added without calibrating the rotation angle of the tool.

Description

Technical Field

[0001] The present application relates to the field of trajectory planning technology, and in particular to a calibration-free three-axis circular interpolation method, device, equipment and storage medium. Background Art

[0002] In the field of modern industrial manufacturing, the application of automated processing equipment is becoming more and more widespread. XYR equipment can achieve a variety of processing paths by virtue of the coordinated movement of its three motion axes (x, y and R), showing unique advantages in the processing of complex-shaped workpieces. Among them, the completion of circular interpolation motion based on the three points P1, P2 and P3 on the workpiece is a key technical link in realizing the processing of specific curved surfaces of the workpiece, which is crucial to ensuring the processing accuracy and quality of the workpiece.

[0003] At present, there is a technical problem that needs to be solved in the process of performing circular interpolation motion of workpieces based on XYR equipment. Because the equipment is performing circular interpolation calculations, the existing or past technology needs to accurately calibrate the actual value of the tool L length in advance, and synchronously calculate the XY interpolation trajectory according to the interpolation angle of the R axis. This calibration process is not only time-consuming and labor-intensive, increasing the time cost of equipment debugging and production preparation, but the errors in the calibration process may also affect the final interpolation accuracy. In addition, when the tool L is replaced or worn, it needs to be recalibrated, which seriously restricts the processing efficiency and production continuity, and it is difficult to meet the urgent needs of modern manufacturing for efficient and high-precision processing.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a three-axis circular interpolation method, device, equipment and storage medium that do not require calibration, aiming to solve the technical problem of completing the circular interpolation motion of the workpiece without calibrating the rotation angle of the tool L.

[0006] To achieve the above purpose, the present application proposes a three-axis circular interpolation method that does not require calibration, the method comprising: Using arc interpolation to plan an arc path as a first array according to the teaching points; wherein the teaching points include the starting point of the arc, the middle point of the arc and the end point of the arc; The length of the tool is set as a first constant, and a circular arc planning path is calculated as a second array using circular arc interpolation according to the teaching point and the first constant; Draw a circle with the trajectory point in the second array as the center and the first constant as the radius; An intersection point between the circle and the first array is detected, and an offset angle is calculated according to the intersection point.

[0007] In one embodiment, the step of using circular interpolation based on the taught points to obtain a circular planned path as the first array includes: Move the base to the starting point of the arc and record the position of the tool as the first coordinate; Move the base to the midpoint of the arc and record the position of the tool as the second coordinate; Move the base to the end point of the arc and record the position of the tool as the third coordinate; Based on the first coordinate, the second coordinate, and the third coordinate, use circular interpolation to obtain a circular planned path as the first array.

[0008] In one embodiment, the step of setting the length of the tool as the first constant and using circular interpolation based on the taught points and the first constant to obtain a circular planned path as the second array includes: Set the length of the tool as the first constant and calculate the simulated first coordinate, simulated second coordinate, and simulated third coordinate based on the taught points; Based on the simulated first coordinate, the simulated second coordinate, and the simulated third coordinate, use circular interpolation to obtain a circular planned path as the second array.

[0009] In one embodiment, the step of calculating the offset angle based on the intersection point includes: When it is detected that the circle has no intersection with the first array, draw a circle with the next trajectory point in the second array as the center and the first constant as the radius.

[0010] In one embodiment, the step of calculating the offset angle based on the intersection point further includes: When it is detected that the circle has one intersection with the first array, calculate the offset angle based on the intersection point and the center of the circle.

[0011] In one embodiment, the step of calculating the offset angle based on the intersection point further includes: When it is detected that the circle has two intersections with the first array, calculate two offset angles based on the two intersection points and the center of the circle; Compare the two offset angles and take the one with a smaller difference in the offset angle from the previous trajectory point as the offset angle.

[0012] In one embodiment, the step of calculating the offset angle based on the intersection point and the center of the circle includes: Make a vector with the center of the circle as the starting point and the intersection point as the end point, and the azimuth angle of the vector with respect to the coordinate axis is the offset angle.

[0013] In addition, to achieve the above object, the present application also proposes a three-axis circular interpolation device without calibration, and the device includes: A position detection module, configured to use circular interpolation based on teaching points to obtain a circular arc planning path as a first array; wherein, the teaching points include the starting point of the circular arc, the middle point of the circular arc, and the ending point of the circular arc; A virtual position module, configured to set the length of the tool as a first constant, and use circular interpolation based on the teaching points and the first constant to obtain a circular arc planning path as a second array; A circular detection module, configured to draw a circle with the trajectory points in the second array as the center and the first constant as the radius; A mapping calculation module, configured to detect the intersection points of the circle and the first array, and calculate the offset angle based on the intersection points.

[0014] In addition, to achieve the above object, the present application also provides a three-axis circular arc interpolation device without calibration, the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program is configured to implement the steps of the three-axis circular arc interpolation method without calibration as described above.

[0015] In addition, to achieve the above object, the present application also provides a storage medium, the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the three-axis circular arc interpolation method without calibration as described above.

[0016] The present application discloses a three-axis circular arc interpolation method, device, equipment and storage medium, relating to the technical field of automatic control. The three-axis circular arc interpolation method without calibration: using circular interpolation based on teaching points to obtain a circular arc planning path as a first array; wherein, the teaching points include the starting point of the circular arc, the middle point of the circular arc, and the ending point of the circular arc; setting the length of the tool as a first constant, and using circular interpolation based on the teaching points and the first constant to obtain a circular arc planning path as a second array; drawing a circle with the trajectory points in the second array as the center and the first constant as the radius; detecting the intersection points of the circle and the first array, and calculating the offset angle based on the intersection points. Completing circular arc interpolation according to the starting point, middle point and ending point of the circular arc on the workpiece, storing the circular arc planning path as a first array, assuming the length of the tool is a first constant, calculating a new circular arc planning path according to the three points and storing it as a second array, traversing the trajectory points of the second array, using each trajectory point as the center, making a circle with a radius of the first constant, detecting the intersection points of the circle and the first array, and calculating the offset angle based on the intersection points. Description of the Drawings

[0017] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0018] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 The flowchart provided for the first embodiment of the three-axis circular interpolation method without calibration of the present application; Figure 2 The structural diagram provided for the first embodiment of the three-axis circular interpolation method without calibration of the present application; Figure 3 The coordinate diagram provided for the first embodiment of the three-axis circular interpolation method without calibration of the present application; Figure 4 Another coordinate diagram provided for the first embodiment of the three-axis circular interpolation method without calibration of the present application; Figure 5 The flowchart provided for the second embodiment of the three-axis circular interpolation method without calibration of the present application; Figure 6 The flowchart provided for the third embodiment of the three-axis circular interpolation method without calibration of the present application; Figure 7 The module structural diagram of the three-axis circular interpolation device without calibration in the embodiment of the present application; Figure 8 The structural diagram of the three-axis circular interpolation device without calibration for the hardware operating environment involved in the three-axis circular interpolation method without calibration in the embodiment of the present application.

[0020] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the drawings. Detailed implementation manners

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] To better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings of the specification and the specific implementation manners.

[0023] The main solution of the embodiment of the present application is: using arc interpolation to plan the arc path as a first array according to the teaching points; wherein the teaching points include the starting point, the middle point and the end point of the arc; setting the length of the tool as a first constant, and using arc interpolation to plan the arc path as a second array according to the teaching points and the first constant; drawing a circle with the trajectory point in the second array as the center and the first constant as the radius; detecting the intersection of the circle and the first array, and calculating the offset angle according to the intersection.

[0024] In the field of modern industrial manufacturing, the application of automated processing equipment is becoming more and more widespread. XYR equipment can achieve a variety of processing paths with the coordinated movement of its three motion axes (x, y and R), showing unique advantages in the processing of complex-shaped workpieces. Among them, completing the arc interpolation movement according to the starting point, middle point and end point of the arc on the workpiece is a key technical link in realizing the specific surface processing of the workpiece, which is crucial to ensuring the processing accuracy and quality of the workpiece.

[0025] At present, in the process of performing circular arc interpolation motion of workpieces based on XYR equipment, there is a technical problem that needs to be solved urgently. In mathematical calculations, when performing R-axis interpolation calculations with circular arc rotation, either equal interpolation calculations are first carried out to lock the position of xy, and then R is calculated; or the value of R is first determined by equal interpolation, and then xy is calculated. In the past, we usually calibrated the length L of R, determined the value of R by equal interpolation, and then calculated the xy coordinates based on the length of L. However, the three-axis circular arc interpolation method that does not require calibration proposed in this application does not require the calibration of the length L of R. It only needs to carry out equal interpolation calculations to lock the position of xy, and then calculate R. This process does not require the actual physical length of L.

[0026] The present application provides a solution. Based on the operation mode of fixing xy first and calculating R later, the arc interpolation is completed according to the starting point, middle point and end point P1, P2, P3 of the arc on the workpiece, and the arc planning path is stored as the first array. Assuming that the length of the tool is the first constant, the new arc planning path is calculated according to the three points and stored as the second array. The trajectory points of the second array are traversed, and a circle with a radius of the first constant is made with each trajectory point as the center. The intersection of the circle and the first array is detected, and the offset angle is calculated according to the intersection. According to the offset angle, the workpiece arc interpolation movement can be completed without measuring the length of the tool.

[0027] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a three-axis arc interpolation device that can achieve the above functions and does not require calibration, etc. The following takes the device control device as an example to illustrate this embodiment and the following embodiments.

[0028] Based on this, an embodiment of the present application provides a three-axis circular interpolation method without calibration. Refer to Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the three-axis circular interpolation method without calibration of the present application.

[0029] In this embodiment, the three-axis circular interpolation method without calibration includes steps S10 to S40: Step S10: Use circular interpolation to interpolate a circular planned path as a first array according to the taught points; wherein, the taught points include the starting point of the arc, the intermediate point of the arc, and the ending point of the arc.

[0030] It can be understood that circular interpolation is the process by which a machine tool numerical control system determines the tool movement trajectory according to a certain method. It can also be said that a method of calculating the intermediate points between known points according to a certain algorithm for certain data on a known curve is also called "densification of data points"; the numerical control device densifies the space between the starting point and the ending point of the curve described by the program segment according to the information of the input part program, so as to form the required contour trajectory, and this "densification of data points" function is called "interpolation".

[0031] It should be noted that the moving base is respectively moved to the starting point of the arc, the intermediate point of the arc, and the ending point of the arc, the positions of the tool are recorded, and a circular plan is interpolated using circular interpolation and stored as a first array C1. As Figure 2 shown, the Z-axis coordinate of the tool is fixed, and only the X, Y, and R coordinates change. Among them, the base refers to the position of the device when no tool is installed, which is equivalent to the no-load state. Through no-load calibration, the motion accuracy of the X, Y, and R axes can be verified to ensure the mechanical performance of the device under no-load conditions. In Figure 2 , L vw X is the reverse coordinate of X, that is, the negative half-axis of the X-axis; L VW Y is the reverse coordinate of Y, that is, the negative half-axis of the Y-axis.

[0032] Step S20: Set the length of the tool as a first constant, and use circular interpolation to interpolate a circular planned path as a second array according to the taught points and the first constant.

[0033] It should be noted that a tool is installed on the base. Assuming that the length of the tool is a first constant, the new base position is calculated according to the taught points and the first constant, and a circular planned path is interpolated using circular interpolation and stored as a second array.

[0034] Specifically, as Figure 3 shown, the arc where P1, P2, and P3 are located is the first array, and the arc where NP1, NP2, and NP3 are located is the second array.

[0035] Step S30: Draw a circle with the locus points in the second array as the center and the first constant as the radius.

[0036] It should be noted that since the length of the tool is the first constant, when the rotation angle of the tool has no deviation, the circle drawn with the locus point as the center and the first constant as the radius is tangent to the first array. However, due to the deviation of the R axis, there may be cases of no intersection, one intersection, and two intersections.

[0037] Step S40: Detect the intersections of the circle and the first array, and calculate the offset angle based on the intersections.

[0038] It should be noted that the offset angle is the azimuth angle of the vector with the center as the starting point and the intersection as the ending point. When the rotation angle of the tool has no deviation, the second array is obtained by translating the first array by the first constant. Therefore, the intersections of the drawn circle and the first array are also obtained by translating the center by the first constant, and the vector between the intersection and the center is the X-axis direction vector, that is, the offset angle is 0. However, due to the angle deviation, the offset angles calculated for each locus point are different. When there are two offset angles, the angle closest to the previous locus point is taken as the offset angle. After calculating N offset angles, in actual work, after installing the new tool on the base, when performing arc compensation according to three teaching points, the calculated offset angle is added to the corresponding angle after each compensation.

[0039] Specifically, as Figure 4 shown, draw a circle with NP1 as the center and the first constant as the radius. The intersection of the circle and the first array is P1, and the azimuth angle of the vector NP1 is the offset angle. Among them, the offset angle at NP1 is angle, the length of the tool is L, and the positional relationship among the offset angle angle, the length L of the tool, and the position of NP1: NP1.x = P1.x + L * cos(angle); NP1.x is the coordinate value of the NP1 point on the X-axis, and P1.x is the coordinate value of the P1 point on the X-axis; NP1.y = P1.y + L * sin(angle); NP1.y is the coordinate value of the NP1 point on the Y-axis, and P1.y is the coordinate value of the P1 point on the Y-axis; In actual work, the positions of P1, P2, and P3 are marked according to the teaching points given by the user, the xy coordinates are interpolated, the positions of NP1, NP2, NP3... are calculated, and the tool processes the workpiece according to the calculated coordinates. The above method first equally divides and interpolates to determine the xy coordinates, and then calculates R, solving the technical problem of being able to complete the arc interpolation movement of the workpiece without calibrating the rotation angle of the tool L.

[0040] In this embodiment, when no tool is installed, move the base to the teaching point, record the position of the base at this time, interpolate the arc planning path according to circular interpolation, and store it as the first array. The first array includes N interpolation points. Assume that the length of the tool is the first constant L. According to the teaching point, calculate the position of the base, interpolate the arc planning path according to circular interpolation, and store it as the second array. The second array also includes N interpolation points. Taking the N trajectory points of the second array as the centers and the first constant as the radius, detect and calculate the offset angle of each trajectory point, and detect N offset angles. During actual operation, add the N offset angles to the arc planning path of circular interpolation correspondingly.

[0041] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as that in the above-mentioned first embodiment can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 5 , Figure 5 which is the flow schematic diagram provided for the second embodiment of the three-axis circular interpolation method without calibration of the present application.

[0042] The three-axis circular interpolation method without calibration includes steps S201 to S206.

[0043] Step S201: Move the base to the starting point of the arc and record the position of the tool as the first coordinate.

[0044] It can be understood that the teaching point T1 is used as the starting point of the arc. Move the base to the starting point of the arc and record the position of the base as the first coordinate P1(x1, y1, R1).

[0045] Step S202: Move the base to the midpoint of the arc and record the position of the tool as the second coordinate.

[0046] It can be understood that the teaching point T2 is used as the midpoint of the arc. Move the base to the midpoint of the arc and record the position of the base as the second coordinate P2(x2, y2, R2).

[0047] Step S203: Move the base to the end point of the arc and record the position of the tool as the third coordinate.

[0048] It can be understood that the teaching point T3 is used as the end point of the arc. Move the base to the end point of the arc and record the position of the base as the third coordinate P3(x3, y3, R3).

[0049] Step S204: According to the first coordinate, the second coordinate and the third coordinate, use circular interpolation to obtain the arc planning path as the first array.

[0050] It is understandable that the xy positions of P1, P2, and P3 are taken out, and an arc planning path is interpolated using an arc and stored in the first array C1, where C1 includes N trajectory points.

[0051] Step S205: Set the length of the tool as a first constant, and calculate the simulated first coordinate, simulated second coordinate, and simulated third coordinate according to the taught points.

[0052] It is understandable that the first constant can be 10. Assuming the length of the tool L = 10, with the taught point T1 as the starting point of the arc, the tool is moved to the starting point of the arc, and the position of the base is calculated as the simulated first coordinate NP1(xn1, yn1, Rn1). The taught point T2 is used as the middle point of the arc, the tool is moved to the middle point of the arc, and the position of the base is calculated as the simulated second coordinate NP2(xn2, yn2, Rn2). The taught point T3 is used as the ending point of the arc, the tool is moved to the ending point of the arc, and the position of the base is calculated as the simulated third coordinate NP3(xn3, yn3, Rn3).

[0053] Step S206: According to the simulated first coordinate, the simulated second coordinate, and the simulated third coordinate, use an arc to interpolate an arc planning path as the second array.

[0054] It is understandable that the xy positions of NP1, NP2, and NP3 are taken out, and an arc planning path is interpolated using an arc and stored in the second array C2, where C2 also includes N trajectory points.

[0055] In this embodiment, according to the three provided taught points, namely the starting point T1 of the arc, the middle point T2 of the arc, and the ending point T3 of the arc, the base without the tool is moved to the taught points, and the positions of the base are recorded as the first coordinate P1, the second coordinate P2, and the third coordinate P3. An arc path is planned using arc interpolation based on the planar coordinates of P1, P2, and P3, and the N interpolation points are stored as the first array C1. Then, assuming the length of the tool is the first constant L, according to the taught points and the length of the tool, the positions of the base are calculated as the simulated first coordinate NP1, the simulated second coordinate NP2, and the simulated third coordinate NP3. The xy positions of NP1, NP2, and NP3 are taken out, and an arc planning path is interpolated using an arc and stored in the second array C2.

[0056] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, for the content that is the same as or similar to the above-mentioned first and second embodiments, reference can be made to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 6 , Figure 6 which is the flow chart provided for the third embodiment of the three-axis arc interpolation method without calibration of the present application.

[0057] The described three-axis circular interpolation method without calibration further includes steps S301 to S304.

[0058] Step S301: When it is detected that the circle has no intersection with the first array, draw a circle with the next trajectory point in the second array as the center and the first constant as the radius.

[0059] It can be understood that each trajectory point in the second array C2 is traversed, a circle with a radius = 10 (the first constant L) is made with the position of each trajectory point as the center Q, and it is detected whether there is an intersection between the circle and C1. When there is no intersection, it is not processed, and the next trajectory point is traversed.

[0060] Step S302: When it is detected that the circle has one intersection with the first array, calculate the offset angle according to the intersection and the center of the circle.

[0061] It can be understood that step S302 further includes step S300: Make a vector with the center of the circle as the starting point and the intersection as the ending point, and the azimuth angle of the vector with the coordinate axis is the offset angle.

[0062] It should be noted that assuming that the circle has exactly one intersection W with the first array, we get: QW = Q - W; Q is the center of the circle, W is the intersection between the circle and the first array, and QW is the vector from the center point to the intersection; angle = atan2(QW.y, QW.x); Among them, the atan2 function returns the angle formed by rotating counterclockwise from the positive x-axis to the point (QW.y, QW.x), in radians. The return value range is between -π and π (excluding -π). A positive result indicates the angle of rotation counterclockwise from the x-axis, and a negative result indicates the angle of rotation clockwise from the x-axis.

[0063] Step S303: When it is detected that the circle has two intersections with the first array, calculate two offset angles according to the two intersections and the center of the circle.

[0064] It can be understood that assuming that the circle has two intersections W1 and W2 with the first array, we get: QW1 = Q - W; QW1 is the vector from the center point to the first intersection W1; QW2 = Q - W; QW2 is the vector from the center point to the second intersection W2; angle1 = atan2(QW1.y, QW1.x); angle2 = atan2(QW2.y, QW2.x); Calculate two offset angles of angle1 and angle2.

[0065] Step S304: Compare the two offset angles, and select the one with a smaller difference from the offset angle of the previous trajectory point as the offset angle.

[0066] It can be understood that angle1 and angle2 are compared with the offset angle angle calculated from the previous trajectory point. Whichever is closest to the angle angle of the previous traversal is taken as the result output.

[0067] In this embodiment, the offset angle is the azimuth angle of the vector with the center of the circle as the starting point and the intersection point as the ending point. When there is no deviation in the rotation angle of the tool, the second array C2 is obtained by translating the first array C1 by the first constant L. Therefore, the intersection point W of the drawn circle and the first array is also obtained by translating the center Q by the first constant, and the vector QW is the vector in the positive X-axis direction, that is, the offset angle is 0. However, due to the existence of angle deviation, the offset angles calculated for each trajectory point are different. When there are two offset angles, the angle closest to the previous trajectory point is taken as the offset angle, and N offset angles are calculated. In actual work, after installing a new tool on the base, when performing circular arc compensation according to three teaching points, the calculated offset angle is added to the corresponding angle R of the circular arc planned after each compensation.

[0068] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the three-axis circular arc interpolation method without calibration of the present application. Based on this technical concept, more simple transformations in various forms are within the protection scope of the present application.

[0069] The present application also provides a three-axis circular arc interpolation device without calibration. Please refer to Figure 7 The three-axis circular arc interpolation device without calibration includes: A position detection module 10, configured to use circular arc interpolation to obtain a circular arc planned path as the first array according to the teaching points; wherein, the teaching points include the starting point of the circular arc, the middle point of the circular arc, and the ending point of the circular arc.

[0070] A virtual position module 20, configured to set the length of the tool as the first constant, and use circular arc interpolation to obtain a circular arc planned path as the second array according to the teaching points and the first constant.

[0071] A circular detection module 30, configured to draw a circle with the trajectory points in the second array as the center of the circle and the first constant as the radius.

[0072] A mapping calculation module 40, configured to detect the intersection points of the circle and the first array, and calculate the offset angle according to the intersection points.

[0073] The three-axis circular arc interpolation device without calibration provided by the present application adopts the three-axis circular arc interpolation method without calibration in the above embodiment, and can solve the technical problems of too long beat time, too low torque control accuracy, and too large overshoot when increasing the gain of the torque closed-loop controller during the electric screwdriver locking. Compared with the prior art, the beneficial effects of the three-axis circular arc interpolation device without calibration provided by the present application are the same as those of the three-axis circular arc interpolation method without calibration provided by the above embodiment, and other technical features in the three-axis circular arc interpolation device without calibration are the same as those disclosed in the above embodiment method, which will not be elaborated here.

[0074] The present application provides a three-axis circular arc interpolation device without calibration. The three-axis circular arc interpolation device without calibration includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the three-axis circular arc interpolation method without calibration in the first embodiment above.

[0075] Next, refer to Figure 8 , which shows a schematic structural diagram of a three-axis circular arc interpolation device without calibration suitable for implementing the embodiments of the present application. The three-axis circular arc interpolation device without calibration in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The shown three-axis circular arc interpolation device without calibration is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0076] As Figure 8As shown, the three-axis circular interpolation device that does not require calibration may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the three-axis circular interpolation device that does not require calibration are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the three-axis circular interpolation device that does not require calibration to communicate with other devices wirelessly or wireline to exchange data. Although the figure shows a three-axis circular interpolation device having various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be alternatively implemented or had.

[0077] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart may be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above functions defined in the method of the embodiments disclosed in the present application are performed.

[0078] The three-axis circular interpolation device provided in the present application adopts the three-axis circular interpolation method in the above embodiments, can solve the technical problem of the actual length of the tool L that does not require calibration, and can also complete the circular interpolation movement of the workpiece. Compared with the prior art, the beneficial effects of the three-axis circular interpolation device provided in the present application are the same as those of the three-axis circular interpolation method provided in the above embodiments, and other technical features in the three-axis circular interpolation device are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0079] It should be understood that each part disclosed in this application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0080] As mentioned above, it is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0081] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the calibration-free three-axis circular interpolation method in the above embodiments.

[0082] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or combined with an instruction execution system, device, or device. The program code contained on the computer-readable storage medium can be transmitted by any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0083] The above computer-readable storage medium can be included in the calibration-free three-axis circular interpolation device; it can also exist separately and not be assembled into the calibration-free three-axis circular interpolation device.

[0084] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0085] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0086] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself in some cases.

[0087] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned tool-length-uncalibrated three-axis circular interpolation method, which can solve the technical problem of being able to complete the circular interpolation movement of the workpiece without calibrating the actual length of the tool L. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the tool-length-uncalibrated three-axis circular interpolation method provided by the above embodiments, and will not be elaborated here.

[0088] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A three-axis circular interpolation method without calibration, characterized in that The method includes: Using circular interpolation based on the teaching points to generate a circular planned path as the first array; wherein, the teaching points include the starting point of the arc, the intermediate point of the arc, and the ending point of the arc; Setting the length of the tool as the first constant, and using circular interpolation based on the teaching points and the first constant to generate a circular planned path as the second array; Drawing a circle with the trajectory points in the second array as the center and the first constant as the radius; Detecting the intersection points of the circle and the first array, and calculating the offset angle based on the intersection points.

2. The calibration-free three-axis circular interpolation method according to claim 1, wherein The step of using circular interpolation based on the teaching points to generate a circular planned path as the first array includes: Moving the base to the starting point of the arc and recording the position of the tool as the first coordinate; Moving the base to the intermediate point of the arc and recording the position of the tool as the second coordinate; Moving the base to the ending point of the arc and recording the position of the tool as the third coordinate; Using circular interpolation based on the first coordinate, the second coordinate, and the third coordinate to generate a circular planned path as the first array.

3. The calibration-free three-axis circular interpolation method according to claim 2, wherein The step of setting the length of the tool as the first constant and using circular interpolation based on the teaching points and the first constant to generate a circular planned path as the second array includes: Setting the length of the tool as the first constant, and calculating the simulated first coordinate, the simulated second coordinate, and the simulated third coordinate based on the teaching points; Using circular interpolation based on the simulated first coordinate, the simulated second coordinate, and the simulated third coordinate to generate a circular planned path as the second array.

4. The calibration-free three-axis circular interpolation method according to claim 1, characterized in that The step of calculating the offset angle based on the intersection points includes: When detecting that there is no intersection point between the circle and the first array, drawing a circle with the next trajectory point in the second array as the center and the first constant as the radius.

5. The calibration-free three-axis circular interpolation method according to claim 1, wherein The step of calculating the offset angle based on the intersection points further includes: When detecting that there is one intersection point between the circle and the first array, calculating the offset angle based on the intersection point and the center of the circle.

6. The calibration-free three-axis circular interpolation method according to claim 1, wherein The step of calculating the offset angle based on the intersection points further includes: When detecting that there are two intersection points between the circle and the first array, calculating two offset angles based on the two intersection points and the center of the circle; Comparing the two offset angles, and taking the one with a smaller difference in the offset angle from the previous trajectory point as the offset angle.

7. The three-axis circular interpolation method without calibration according to claim 1, characterized in that The step of calculating the offset angle based on the intersection point and the center of the circle includes: Making a vector with the center of the circle as the starting point and the intersection point as the ending point, and the azimuth angle of the vector with respect to the coordinate axis is the offset angle.

8. A three-axis circular interpolation device without calibration, characterized in that, The device includes: A position detection module, configured to use circular interpolation based on the teaching points to generate a circular planned path as the first array; wherein, the teaching points include the starting point of the arc, the intermediate point of the arc, and the ending point of the arc; A virtual position module, configured to set the length of the tool as the first constant, and use circular interpolation based on the teaching points and the first constant to generate a circular planned path as the second array; A circular detection module, configured to draw a circle with the trajectory points in the second array as the center and the first constant as the radius; A mapping calculation module, configured to detect the intersection points of the circle and the first array, and calculate the offset angle based on the intersection points.

9. A three-axis circular interpolation device without calibration, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and running on the processor, the computer program being configured to implement the steps of the calibration-free three-axis circular interpolation method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the calibration-free three-axis circular interpolation method according to any one of claims 1 to 7 are implemented.

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