Three-axis circular interpolation method, device, equipment and storage medium without calibration

Abstract

The present application relates to the field of trajectory planning technology, and discloses a three-axis circular arc interpolation method, device, equipment and storage medium that do not require calibration. The method is as follows: according to the teaching point, a circular arc interpolation is used to obtain a circular arc planning path as a first array; the length of the tool is set as a first constant, and according to the teaching point and the first constant, a circular arc interpolation is used to obtain a circular arc planning path as a second array; with the trajectory point in the second array as the center of the circle and the first constant as the radius, a circle is drawn. The circular arc interpolation is completed according to the starting point, middle point and end point of the arc on the workpiece, and the circular arc planning path is stored as the first array. Assuming that the length of the tool is the first constant, a new circular arc planning path is calculated based on the three points and stored in 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 of the circle. The intersection of the circle and the first array is detected, and the offset angle is calculated based on the intersection. When the tool is working, the offset 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, apparatus, device, and storage medium. Background Art

[0002] Automated machining equipment is increasingly used in modern industrial manufacturing. XYR machines, leveraging the coordinated motion of their three axes (x, y, and R), enable diverse machining paths, demonstrating unique advantages in machining complex workpieces. Circular interpolation based on points P1, P2, and P3 on the workpiece is a key technology for machining specific curved surfaces and is crucial for ensuring precision and quality.

[0003] Currently, 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 needs to accurately calibrate the actual value of the tool L length in advance when performing circular interpolation calculations, the XY interpolation trajectory is calculated synchronously 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 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 content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this 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 objectives, the present application proposes a calibration-free three-axis circular interpolation method, the method comprising:

[0007] Using arc interpolation to calculate the arc planning 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;

[0008] The length of the tool is set to 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;

[0009] Draw a circle with the trajectory point in the second array as the center and the first constant as the radius;

[0010] An intersection point between the circle and the first array is detected, and an offset angle is calculated based on the intersection point.

[0011] In one embodiment, the step of using arc interpolation to calculate the arc planning path as a first array according to the teaching points includes:

[0012] Move the base to the starting point of the arc and record the position of the tool as the first coordinate;

[0013] Move the base to the middle point of the arc and record the position of the tool as the second coordinate;

[0014] Move the base to the end point of the arc and record the position of the tool as the third coordinate;

[0015] According to the first coordinate, the second coordinate and the third coordinate, a circular arc planning path is obtained as a first array using circular arc interpolation.

[0016] In one embodiment, the step of setting the length of the tool to a first constant and using arc interpolation to calculate the arc planning path as a second array according to the teaching point and the first constant includes:

[0017] Setting the length of the tool as a first constant, and calculating a simulated first coordinate, a simulated second coordinate, and a simulated third coordinate according to the teaching point;

[0018] According to the simulated first coordinate, the simulated second coordinate and the simulated third coordinate, a circular arc planning path is obtained as the second array by using circular arc interpolation.

[0019] In one embodiment, the step of calculating the offset angle according to the intersection point includes:

[0020] When it is detected that the circle has no intersection with the first array, a circle is drawn with the next trajectory point in the second array as the center and the first constant as the radius.

[0021] In one embodiment, the step of calculating the offset angle according to the intersection point further includes:

[0022] When it is detected that the circle has an intersection with the first array, an offset angle is calculated according to the intersection and the center of the circle.

[0023] In one embodiment, the step of calculating the offset angle according to the intersection point further includes:

[0024] When it is detected that the circle and the first array have two intersection points, two offset angles are calculated according to the two intersection points and the center of the circle;

[0025] Compare the two offset angles and take the offset angle with the smaller difference from the offset angle of the previous trajectory point as the offset angle.

[0026] In one embodiment, the step of calculating the offset angle based on the intersection point and the center of the circle includes:

[0027] A vector is drawn with the center of the circle as the starting point and the intersection point as the end point, and the azimuth angle between the vector and the coordinate axis is the offset angle.

[0028] In addition, to achieve the above-mentioned purpose, the present application also proposes a three-axis circular interpolation device that does not require calibration, the device comprising:

[0029] A position detection module, configured to interpolate an arc according to teaching points to calculate an arc planning path as a first array; wherein the teaching points include a starting point of the arc, a middle point of the arc, and an end point of the arc;

[0030] A virtual position module is used to set the length of the tool to a first constant, and to use arc interpolation to calculate an arc planning path as a second array according to the teaching point and the first constant;

[0031] a circle detection module, configured to draw a circle with the trajectory point in the second array as the center and the first constant as the radius;

[0032] A mapping calculation module is used to detect the intersection point between the circle and the first array, and calculate the offset angle according to the intersection point.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a three-axis circular arc interpolation device that does not require calibration, the device comprising: a memory, a processor, and a computer program stored on the memory and runnable on the processor, the computer program being configured to implement the steps of the three-axis circular arc interpolation method that does not require calibration as described above.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the three-axis circular arc interpolation method without calibration as described above are implemented.

[0035] The present application discloses a calibration-free three-axis circular interpolation method, apparatus, device, and storage medium, relating to the field of automatic control technology. The calibration-free three-axis circular interpolation method comprises: using circular interpolation to calculate a circular arc planning path as a first array based on 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 circular interpolation to calculate a circular arc planning path as a second array based on the teaching points and the first constant; drawing a circle with a 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 based on the intersection. Arc interpolation is completed based on the starting point, middle point and end point of the arc on the workpiece, and the arc planning path is stored as a first array. Assuming that the length of the tool is a first constant, a new arc planning path is calculated based on the three points and stored in a 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 of the circle. The intersection of the circle and the first array is detected, and the offset angle is calculated based on the intersection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 A flow chart of the first embodiment of the three-axis circular interpolation method without calibration provided in this application;

[0039] Figure 2 A structural diagram of the first embodiment of the three-axis circular interpolation method without calibration provided in this application;

[0040] Figure 3 A coordinate diagram provided for the first embodiment of the three-axis circular interpolation method without calibration of this application;

[0041] Figure 4 Another coordinate diagram provided for the first embodiment of the three-axis circular interpolation method without calibration of the present application;

[0042] Figure 5 A flow chart of the second embodiment of the three-axis circular interpolation method without calibration provided in this application;

[0043] Figure 6A flow chart of the third embodiment of the three-axis circular interpolation method without calibration provided in this application;

[0044] Figure 7 This is a schematic diagram of the module structure of a three-axis circular interpolation device that does not require calibration according to an embodiment of the present application;

[0045] Figure 8 This is a schematic structural diagram of a three-axis circular interpolation device that does not require calibration and a hardware operating environment involved in the three-axis circular interpolation method that does not require calibration in an embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of the embodiment of the present application is: using arc interpolation to calculate the arc planning 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; setting the length of the tool as a first constant, and using arc interpolation to calculate the arc planning 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 based on the intersection.

[0050] Automated machining equipment is increasingly used in modern industrial manufacturing. XYR machines, leveraging the coordinated motion of their three axes (x, y, and r), enable diverse machining paths, demonstrating unique advantages in machining complex workpieces. Circular interpolation, based on the workpiece's starting, intermediate, and endpoint points, is a key technology for machining specific curved surfaces and is crucial for ensuring precision and quality.

[0051] At present, in the process of performing circular 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 belt rotation, either equal interpolation calculations are first carried out to lock the position of xy, and then calculate R; 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 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.

[0052] This application provides a solution. Based on the operating mode of fixing xy first and calculating R later, circular arc interpolation is performed based on the starting point, middle point, and end point P1, P2, and P3 of the arc on the workpiece. The arc planning path is stored in a first array. Assuming the tool length is a first constant, a new arc planning path is calculated based on the three points and stored in a second array. The trajectory points in the second array are traversed, and a circle with a radius of the first constant is drawn with each trajectory point as the center. The intersection of the circle and the first array is detected, and the offset angle is calculated based on the intersection. Based on the offset angle, circular arc interpolation of the workpiece can be completed without measuring the tool length.

[0053] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution capabilities, such as a tablet computer, personal computer, mobile phone, etc., or a calibration-free three-axis circular interpolation device that can achieve the above functions. The following uses the device control device as an example to illustrate this embodiment and the following embodiments.

[0054] Based on this, the embodiment of the present application provides a three-axis circular interpolation method that does not require calibration, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the calibration-free three-axis circular interpolation method of the present application.

[0055] In this embodiment, the calibration-free three-axis circular interpolation method includes steps S10 to S40:

[0056] Step S10: Using arc interpolation according to the teaching points to plan the arc path as a first array; wherein the teaching points include the starting point of the arc, the middle point of the arc and the end point of the arc.

[0057] It's easy to understand that circular interpolation is the process by which a machine tool's CNC system determines the tool's trajectory using a specific method. Alternatively, it can be said that given certain data on a curve, the method uses an algorithm to calculate the intermediate points between known points, also known as "data point densification." Based on the input part program information, the CNC device densifies the space between the starting and ending points of the curve described by the program segment to form the desired contour trajectory. This "data densification" function is called "interpolation."

[0058] It should be noted that the base is moved to the starting point, the middle point and the end point of the arc respectively, the position of the tool is recorded, and the arc plan is calculated using arc interpolation and stored as the first array C1, as shown in FIG. Figure 2 As shown in the figure, 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 equipment 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 equipment under no-load conditions. Figure 2 In, L vw X is the reverse coordinate of X, that is, the negative half axis of the X axis; L VW Y is the negative half axis of the Y axis.

[0059] Step S20: setting the length of the tool to a first constant, and using arc interpolation to calculate an arc planning path as a second array according to the teaching point and the first constant.

[0060] It should be noted that the tool is installed on the base, assuming that the length of the tool is the first constant, the new base position is calculated according to the teaching point and the first constant, and the arc planning path is calculated using arc interpolation and stored as the second array.

[0061] Specifically, such as Figure 3 As shown, the arcs where P1, P2 and P3 are located are the first array, and the arcs where NP1, NP2 and NP3 are located are the second array.

[0062] Step S30: Draw a circle with the trajectory point in the second array as the center and the first constant as the radius.

[0063] It should be noted that because the length of the tool is the first constant, the circle drawn with the trajectory point as the center and the first constant as the radius is tangent to the first array when there is no deviation in the rotation angle of the tool. However, due to the deviation of the R axis, there may be no intersection, one intersection, or two intersections.

[0064] Step S40: Detecting the intersection of the circle and the first array, and calculating the offset angle according to the intersection.

[0065] It should be noted that the offset angle is the azimuth of the vector starting from the center of the circle and ending at the intersection point.

[0066] When the tool's rotation angle is consistent, the second array is calculated by shifting the first array by the first constant. Therefore, the intersection of the drawn circle and the first array is also calculated by shifting the center of the circle by the first constant, and the vector between the intersection and the center of the circle is the X-axis vector, meaning the offset angle is 0. However, due to angular deviation, the calculated offset angle for each trajectory point is different. When two offset angles exist, the angle closest to the previous trajectory point is used as the offset angle. After calculating N offset angles, in actual work, when a new tool is mounted on the base and circular interpolation is performed based on the three taught points, the calculated offset angle is added to the corresponding angle after each interpolation.

[0067] Specifically, such as Figure 4 As shown, a circle is drawn 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 of 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 between the offset angle angle, the length of the tool L and NP1 is:

[0068] NP1.x=P1.x+L*cos(angle); NP1.x is the coordinate value of point NP1 on the X-axis, and P1.x is the coordinate value of point P1 on the X-axis;

[0069] NP1.y=P1.y+L*sin(angle); NP1.y is the coordinate value of NP1 point on the Y axis, P1.y is the coordinate value of P1 point on the Y axis;

[0070] 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, and the positions of NP1, NP2, NP3... are calculated. The tool processes the workpiece according to the calculated coordinates. The above method first determines the xy coordinates by equal interpolation, and then calculates R, solving the technical problem of completing the circular interpolation motion of the workpiece without calibrating the rotation angle of the tool L.

[0071] In this embodiment, when the tool is not installed, the base is moved to the teaching point, the base's current position is recorded, and a circular arc path is calculated using circular interpolation. This is stored in a first array, which includes N interpolation points. Assuming the tool length is a first constant, L, the base's position is calculated based on the teaching point, and a circular arc path is calculated using circular interpolation. This is stored in a second array, which also includes N interpolation points. With the N trajectory points in the second array as the center and the first constant as the radius, the offset angle of each trajectory point is detected and calculated, resulting in N offset angles. In actual operation, these N offset angles are added to the circular arc path calculated using circular interpolation.

[0072] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 5 , Figure 5 This is a flow chart of the second embodiment of the three-axis circular interpolation method that does not require calibration.

[0073] The calibration-free three-axis circular interpolation method includes steps S201 to S206.

[0074] Step S201: Move the base to the starting point of the arc and record the position of the tool as the first coordinate.

[0075] It can be understood that the teaching point T1 is used as the starting point of the arc, the base is moved to the starting point of the arc, and the position of the base is recorded as the first coordinate P1 (x1, y1, R1).

[0076] Step S202: Move the base to the middle point of the arc and record the position of the tool as the second coordinate.

[0077] It can be understood that the teaching point T2 is used as the middle point of the arc, the base is moved to the middle point of the arc, and the position of the base is recorded as the second coordinate P2 (x2, y2, R2).

[0078] Step S203: Move the base to the end point of the arc and record the position of the tool as the third coordinate.

[0079] It can be understood that the teaching point T3 is used as the end point of the arc, the base is moved to the end point of the arc, and the position of the base is recorded as the third coordinate P3 (x3, y3, R3).

[0080] Step S204: according to the first coordinate, the second coordinate and the third coordinate, use arc interpolation to calculate the arc planning path as a first array.

[0081] It can be understood that the xy positions of P1, P2, and P3 are taken out, and the arc planning path is calculated using arc interpolation and stored in the first array C1, which includes N trajectory points.

[0082] Step S205: setting the length of the tool to a first constant, and calculating a simulated first coordinate, a simulated second coordinate, and a simulated third coordinate according to the teaching point.

[0083] It can be understood that the first constant can be 10. Assuming that the length of the tool L=10, the teaching point T1 is used 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 to simulate the first coordinate NP1 (xn1, yn1, Rn1). The teaching point T2 is used as the middle point of the arc, and the tool is moved to the middle point of the arc. The position of the base is calculated to simulate the second coordinate NP2 (xn2, yn2, Rn2). The teaching point T3 is used as the end point of the arc, and the tool is moved to the end point of the arc. The position of the base is calculated to simulate the third coordinate NP3 (xn3, yn3, Rn3).

[0084] Step S206: using arc interpolation to calculate an arc planning path as the second array according to the simulated first coordinate, the simulated second coordinate and the simulated third coordinate.

[0085] It can be understood that the xy positions of NP1, NP2, and NP3 are taken out, and the arc planning path is calculated using arc interpolation and stored in the second array C2, which also includes N trajectory points.

[0086] In this embodiment, according to the three provided teaching points, the starting point T1 of the arc, the middle point T2 of the arc and the end point T3 of the arc, the base without the tool is moved to the teaching point, and the position of the base is recorded as the first coordinate P1, the second coordinate P2 and the third coordinate P3. The arc path is planned using circular arc interpolation according to the plane coordinates of P1, P2 and P3. The N interpolation points are stored as the first array C1. It is assumed that the length of the tool is the first constant L. According to the teaching point and the length of the tool, the position of the base is 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 the arc planning path is calculated using circular arc interpolation and stored in the second array C2.

[0087] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the first and second embodiments above can be referred to the above introduction and will not be described in detail later. Figure 6 , Figure 6 This is a flow chart of the third embodiment of the three-axis circular interpolation method that does not require calibration.

[0088] The calibration-free three-axis circular interpolation method further includes steps S301 to S304.

[0089] Step S301: when it is detected that the circle has no intersection with the first array, a circle is drawn with the next trajectory point in the second array as the center and the first constant as the radius.

[0090] It can be understood that each trajectory point in the second array C2 is traversed, and a circle with a radius of 10 (the first constant L) is drawn with the position of each trajectory point as the center Q. The circle is then checked to see if it intersects with C1. If there is no intersection, it is not processed and the next trajectory point is moved to.

[0091] Step S302: When it is detected that the circle has an intersection with the first array, an offset angle is calculated according to the intersection and the center of the circle.

[0092] It is understandable that step S302 also includes step S300: making a vector with the center of the circle as the starting point and the intersection as the end point, and the azimuth angle between the vector and the coordinate axis is the offset angle.

[0093] It should be noted that, assuming that the circle has only one intersection point W with the first array, we get:

[0094] QW=QW; 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 of the circle to the intersection;

[0095] angle = atan2(QW.y, QW.x);

[0096] The atan2 function returns the angle, in radians, formed by rotating counterclockwise from the positive x-axis to the point (QW.y, QW.x). The return value range is between -π and π (excluding -π). A positive result indicates a counterclockwise rotation from the x-axis, while a negative result indicates a clockwise rotation from the x-axis.

[0097] Step S303: when it is detected that the circle has two intersection points with the first array, two offset angles are calculated according to the two intersection points and the center of the circle.

[0098] It can be understood that, assuming that the circle has two intersection points W1 and W2 with the first array, we can get:

[0099] QW1=QW; QW1 is the vector from the center of the circle to the first intersection point W1;

[0100] QW2=QW; QW2 is the vector from the center point to the second intersection point W2;

[0101] angle1=atan2(QW1.y, QW1.x);

[0102] angle2=atan2(QW2.y, QW2.x);

[0103] Calculate the two offset angles angle1 and angle2.

[0104] Step S304: Compare the two offset angles and take the offset angle with the smaller difference from the offset angle of the previous trajectory point as the offset angle.

[0105] It can be understood that angle1 and angle2 are compared with the offset angle angle calculated at the previous trajectory point. Whichever one is closest to the angle angle of the previous traversal is taken as the offset angle output.

[0106] In this embodiment, the offset angle is the azimuth of a vector starting from the center of the circle and ending at the intersection. When the tool's rotation angle is consistent, the second array C2 is obtained by translating the first array C1 by the first constant L. Therefore, the intersection W of the drawn circle and the first array is also obtained by translating the center Q by the first constant, and vector QW is a vector in the positive direction of the X-axis, meaning the offset angle is 0. However, due to angular deviation, the calculated offset angle for each trajectory point is different. When two offset angles exist, the angle closest to the previous trajectory point is used as the offset angle, and N offset angles are calculated. In actual work, after the new tool is installed on the base and circular interpolation is performed based on the three taught points, the calculated offset angle is added to the angle R of each interpolated arc plan.

[0107] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the three-axis circular interpolation method of the present application that does not require calibration. More forms of simple transformations based on this technical concept are all within the scope of protection of the present application.

[0108] This application also provides a three-axis circular interpolation device that does not require calibration, please refer to Figure 7 The three-axis circular interpolation device that does not require calibration includes:

[0109] The position detection module 10 is used to use arc interpolation to calculate the arc planning 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.

[0110] The virtual position module 20 is used to set the length of the tool as a first constant, and use arc interpolation to calculate the arc planning path as a second array according to the teaching point and the first constant.

[0111] The circle detection module 30 is configured to draw a circle with the trajectory point in the second array as the center and the first constant as the radius.

[0112] The mapping calculation module 40 is used to detect the intersection point between the circle and the first array, and calculate the offset angle according to the intersection point.

[0113] The calibration-free three-axis circular interpolation device provided in this application utilizes the calibration-free three-axis circular interpolation method described in the aforementioned embodiment to address the technical issues of excessively long cycle times during electric screwdriver engagement, low torque control accuracy, and excessive overshoot when increasing the gain of the torque closed-loop controller. Compared to the prior art, the beneficial effects of the calibration-free three-axis circular interpolation device provided in this application are the same as those of the calibration-free three-axis circular interpolation method described in the aforementioned embodiment. Other technical features of the calibration-free three-axis circular interpolation device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0114] The present application provides a calibration-free three-axis circular interpolation device, which 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 so that the at least one processor can execute the calibration-free three-axis circular interpolation method of the above-mentioned embodiment 1.

[0115] Reference below Figure 8 , which shows a schematic structural diagram of a calibration-free three-axis circular interpolation device suitable for implementing embodiments of the present application. The calibration-free three-axis circular interpolation device in the embodiments of the present application can 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), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 8 The three-axis circular interpolation device that does not require calibration is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0116] like Figure 8As shown, the calibration-free three-axis circular interpolation device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the calibration-free three-axis circular interpolation device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007, such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003, such as a magnetic tape, hard disk, etc.; and communication devices 1009. Communication devices 1009 can allow the calibration-free three-axis circular interpolation device to communicate with other devices wirelessly or wired to exchange data. While the figure shows a calibration-free three-axis circular interpolation device with various systems, it should be understood that not all of the illustrated systems are required to be implemented or present. More or fewer systems may alternatively be implemented or present.

[0117] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0118] The calibration-free three-axis circular interpolation device provided in this application utilizes the calibration-free three-axis circular interpolation method described in the aforementioned embodiment, resolving the technical problem of achieving circular interpolation motion of a workpiece without calibrating the actual length of the tool L. Compared to the prior art, the beneficial effects of the calibration-free three-axis circular interpolation device provided in this application are the same as those of the calibration-free three-axis circular interpolation method described in the aforementioned embodiment. Other technical features of this calibration-free three-axis circular interpolation device are the same as those disclosed in the aforementioned embodiment and are not further elaborated here.

[0119] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0120] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0121] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, the computer-readable program instructions being used to execute the calibration-free three-axis circular interpolation method in the above-mentioned embodiment.

[0122] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0123] The computer-readable storage medium may be included in the three-axis circular interpolation device that does not require calibration; or may exist independently without being assembled into the three-axis circular interpolation device that does not require calibration.

[0124] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, 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 may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0125] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0126] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0127] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned calibration-free three-axis circular interpolation method. This solves the technical problem of achieving circular interpolation motion of a workpiece without calibrating the actual length of the tool L. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the calibration-free three-axis circular interpolation method provided in the aforementioned embodiments and are not further elaborated here.

[0128] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are 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 comprises: Using arc interpolation to calculate the arc planning 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 to 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; Detect the intersection of the circle and the first array, calculate the offset angle based on the intersection, and after installing the new tool on the base, add the calculated offset angle to the corresponding angle after each interpolation when performing arc interpolation based on the teaching point.

2. The calibration-free three-axis circular interpolation method according to claim 1, wherein: The step of using arc interpolation to calculate the arc planning path as the first array according to the teaching points 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 middle point 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; According to the first coordinate, the second coordinate and the third coordinate, a circular arc planning path is obtained as a first array using circular arc interpolation.

3. The calibration-free three-axis circular interpolation method according to claim 2, wherein: The step of setting the length of the tool to a first constant and using arc interpolation to calculate the arc planning path as a second array according to the teaching point and the first constant includes: Setting the length of the tool as a first constant, and calculating a simulated first coordinate, a simulated second coordinate, and a simulated third coordinate according to the teaching point; According to the simulated first coordinate, the simulated second coordinate and the simulated third coordinate, a circular arc planning path is obtained as the second array by using circular arc interpolation.

4. The calibration-free three-axis circular interpolation method according to claim 1, wherein: The step of calculating the offset angle according to the intersection point includes: When it is detected that the circle has no intersection with the first array, a circle is drawn 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 according to the intersection point further includes: When it is detected that the circle has an intersection with the first array, an offset angle is calculated according to the intersection 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 according to the intersection point further includes: When it is detected that the circle and the first array have two intersection points, two offset angles are calculated according to the two intersection points and the center of the circle; Compare the two offset angles and take the offset angle with the smaller difference from the offset angle of the previous trajectory point as the offset angle.

7. The calibration-free three-axis circular interpolation method according to claim 1, wherein: The step of calculating the offset angle according to the intersection point and the center of the circle includes: A vector is drawn with the center of the circle as the starting point and the intersection point as the end point, and the azimuth angle between the vector and the coordinate axis is the offset angle.

8. A three-axis circular interpolation device that does not require calibration, characterized in that: The device comprises: A position detection module, configured to interpolate an arc according to teaching points to calculate an arc planning path as a first array; wherein the teaching points include a starting point of the arc, a middle point of the arc, and an end point of the arc; A virtual position module is used to set the length of the tool to a first constant, and to use arc interpolation to calculate an arc planning path as a second array according to the teaching point and the first constant; a circle detection module, configured to draw a circle with the trajectory point in the second array as the center and the first constant as the radius; A mapping calculation module is used to detect the intersection of the circle and the first array, calculate the offset angle based on the intersection, and after the new tool is installed on the base, when performing arc interpolation according to the teaching point, add the calculated offset angle to the corresponding angle after each interpolation.

9. A three-axis circular interpolation device that does not require calibration, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program is 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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