Key tooth shape learning method, device, key machine, storage medium, and program product

Abstract

This application relates to a key tooth profile learning method, apparatus, key machine, storage medium, and program product. The method includes: offsetting a reference position from a bottom surface region of the tooth groove on a target key along a first direction by a first preset distance to obtain a first detection position; the first direction characterizes the normal of the bottom surface region; when detecting a target sidewall region of the tooth groove from the first detection position along a second direction, offsetting from the current position along the second direction by a second preset distance to obtain a second detection position; the second direction characterizes the orientation of the target sidewall region relative to the tooth groove; detecting from the second detection position along a third direction or the reverse of the third direction to determine the deflection of the target sidewall region relative to the third direction; the third direction is perpendicular to the first and second directions. This method can learn key tooth profile features used to define the pose of a rotating tumbler, thereby improving the efficiency of key tooth profile learning.

Description

Technical Field

[0001] This application relates to the field of machining technology, and in particular to a key tooth profile learning method, apparatus, key machine, storage medium, and program product. Background Technology

[0002] With the advancement of machining technology, a new type of pin tumbler lock has emerged. The rotating pins inside this new type of pin tumbler lock can not only move in a direction parallel to their own axis of rotation, but can also rotate around the axis of rotation.

[0003] However, since the pins in a traditional pin tumbler lock can only move up and down, the key tooth profile learning method for traditional pin tumbler locks cannot learn the key tooth profile features on the key that limit the position of the rotating pins. This results in the need for manual tooth reading, which leads to low key tooth profile learning efficiency. Summary of the Invention

[0004] Based on this, it is necessary to provide a key tooth profile learning method, device, key machine, and computer-readable storage medium that can learn key tooth profile features used to limit the pose of a rotating ball, thereby improving the key tooth profile learning efficiency, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a key tooth shape learning method, including: A first detection position is obtained by offsetting a first preset distance along a first direction from a reference position in the bottom area of ​​the tooth groove on the target key; the first direction is used to characterize the normal of the bottom area. When the target sidewall region of the tooth groove is detected from the first detection position along the second direction, the second detection position is obtained by offsetting the current position by a second preset distance in the opposite direction of the second direction; the second direction is used to characterize the orientation of the target sidewall region relative to the tooth groove. The detection is performed from the second detection position along a third direction or the opposite direction of the third direction to determine the deflection of the target sidewall region relative to the third direction; the third direction is perpendicular to the first direction and the second direction.

[0006] Secondly, this application also provides a key-tooth learning device, comprising: The detection module is used to offset a reference position from the bottom surface area of ​​the tooth groove on the target key along a first direction by a first preset distance to obtain a first detection position; the first direction is used to characterize the normal of the bottom surface area; when the target sidewall area of ​​the tooth groove is detected from the first detection position along a second direction, the module offsets the current position along the second direction by a second preset distance to obtain a second detection position; the second direction is used to characterize the orientation of the target sidewall area relative to the tooth groove. The learning module is used to probe from the second detection position along a third direction or the reverse of the third direction to determine the deflection of the target sidewall region relative to the third direction; the third direction is perpendicular to the first direction and the second direction.

[0007] Thirdly, this application also provides a key machine, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method.

[0008] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method.

[0009] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps in the above-described method.

[0010] The aforementioned key tooth profile learning method, apparatus, key machine, storage medium, and computer program product, when the target key is inserted into a lock with a rotating tumbler, allows the target sidewall region of the tooth groove on the target key to contact the working surface of the end of the rotating tumbler to drive the rotating tumbler to rotate around a rotation axis, thereby guiding and limiting the rotating tumbler to maintain a corresponding rotation angle. Therefore, the key tooth profile features that determine the final pose of the rotating tumbler include the features of the target sidewall region.

[0011] To accurately learn the characteristics of the target sidewall region, considering the difficulty of directly probing the target sidewall region while probing the bottom surface region is easier, a first detection position is obtained by offsetting a first preset distance along a first direction from a reference position within the bottom surface region of the tooth groove on the target key; the first direction represents the normal of the bottom surface region. Furthermore, when the target sidewall region of the tooth groove is detected from the first detection position along a second direction, a second detection position is obtained by offsetting a second preset distance in the opposite direction from the current position along the second direction; the second direction represents the orientation of the target sidewall region relative to the tooth groove. This allows for detection of the target sidewall region starting from a reference position within the bottom surface region, significantly reducing the detection difficulty. If the target sidewall region is parallel to a third direction perpendicular to both the first and second directions, then the target sidewall region cannot be detected from the second detection position along either the third direction or in the opposite direction. If the target sidewall region is not parallel to the third direction, then the target sidewall region can be detected from the second detection position along either the third direction or in the opposite direction. Therefore, the detection from the second detection position along the third direction or the reverse of the third direction can reflect the deflection of the target sidewall region relative to the third direction. By detecting from the second detection position along the third direction or the reverse of the third direction, the deflection of the target sidewall region relative to the third direction can be determined, thereby enabling the learning of the key tooth features used to limit the pose of the rotating projectile and improving the efficiency of tooth learning. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart illustrating a key tooth profile learning method provided in an embodiment of this application.

[0014] Figure 2 This is a schematic diagram of a target key provided in an embodiment of this application.

[0015] Figure 3 This is a schematic diagram of the tooth-shaped features of a target key provided in an embodiment of this application.

[0016] Figure 4 This is a schematic diagram illustrating the deflection of a target sidewall region relative to a third direction, as provided in an embodiment of this application.

[0017] Figure 5 This is a schematic diagram of a second distribution range provided in an embodiment of this application.

[0018] Figure 6 This is a structural block diagram of a key-tooth learning device provided in an embodiment of this application.

[0019] Figure 7 This is an internal structural diagram of a key machine provided in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] In one exemplary embodiment, such as Figure 1 The diagram shows a flowchart of a key tooth profile learning method. Taking the application of this method to a key machine as an example, the method includes the following steps 102 to 106.

[0022] Step 102: Offset a first preset distance from the reference position in the bottom area of ​​the tooth groove on the target key along the first direction to obtain the first detection position; the first direction is used to characterize the normal of the bottom area.

[0023] The target key refers to the key of a lock with a rotating pin. When the target key is inserted into the lock, the grooves on the target key interact with the end of the rotating pin, confining the rotating pin at a corresponding height and rotation angle. Specifically, the target sidewall area on the groove can contact the working surface of the end of the rotating pin to drive the rotating pin to rotate around the rotation axis until the working surface is in contact with the target sidewall area and stops rotating, thereby confining the rotating pin at a corresponding rotation angle. The bottom surface area on the groove can contact the bottom surface of the end of the rotating pin to confine the rotating pin at a corresponding height.

[0024] For example, such as Figure 2 The diagram illustrates a target key. The key-operating mechanism can detect the tooth depth at different tooth positions, and based on the detected tooth depth and position, determine a reference position within the bottom surface area. The key-operating mechanism includes a detector that can be controlled to move to the reference position and offset from the reference position along a first direction by a first preset distance to reach a first detection position.

[0025] In some embodiments, there may be at least one reference location. For each reference location, the key machine may acquire a first detection location that is a first preset distance away from the reference location in a first direction.

[0026] In some embodiments, the first preset distance can be adaptively set, but it is necessary to ensure that the positional component of the first detection position in the first direction does not exceed the first distribution range of the target sidewall region in the first direction, so as to ensure the effectiveness of the first detection position. It is understood that the first preset distance needs to match the first distribution range mentioned above.

[0027] In some embodiments, when the target key is clamped on the key-mounting device, the target key is in a clamping pose. Since the first direction, second direction, and third direction of the target key in the clamping pose have fixed transformation relationships with the axes of the reference coordinate system of the key-mounting device, the key-mounting device can determine the first direction, second direction, and third direction based on the axes of the reference coordinate system when the target key is in the clamping pose. For example, when the target key is in the clamping pose, the first direction is parallel to the Z-axis of the reference coordinate system, and the second direction is parallel to the Y-axis of the reference coordinate system. Therefore, the key-mounting device can determine the first direction based on the Z-axis axis, the second direction based on the Y-axis axis, and the third direction based on the X-axis axis.

[0028] In some embodiments, since target keys of the same model are clamped in a fixed clamping position on the key-making machine during tooth profile learning, the reference position in the bottom area of ​​each tooth groove on the target key of the same model is within a preset tooth position range for the key-making machine. The key-making machine can detect the tooth depth corresponding to each candidate tooth position within the preset tooth position range, and determine the reference position in the bottom area based on the detected tooth depth and the corresponding candidate tooth position.

[0029] In some embodiments, the target key has a preset number of grooves, with different grooves corresponding to different preset tooth position ranges. Each preset tooth position range has at least two candidate tooth positions.

[0030] In some embodiments, such as Figure 3 The diagram illustrates the tooth profile of a target key. Along the second direction, there are six preset tooth position ranges corresponding to tooth grooves, and two candidate tooth positions exist within each preset tooth position range. Each candidate tooth position exhibits three deflection scenarios: deflection towards the second side of the third direction, deflection parallel to the third direction, and deflection towards the first side of the third direction. The intersections of the solid lines and dashed lines corresponding to the three deflection scenarios can be used as candidate tooth positions. According to the lock manufacturer's specifications, the tooth position corresponding to the center of the bottom area of ​​the tooth groove is among the candidate tooth positions. Along the first direction, there are six possible tooth depths; the target tooth depth parameter for each tooth groove is one of these six candidate tooth depth parameters.

[0031] In some embodiments, the key machine may determine a reference position based on the center position within the bottom surface area. The reference position may be the center position or a non-center position other than the center position.

[0032] Step 104: When the target sidewall region of the tooth groove is detected from the first detection position along the second direction, the second detection position is obtained by offsetting the current position by a second preset distance along the second direction in the opposite direction; the second direction is used to characterize the direction of the target sidewall region relative to the tooth groove.

[0033] For example, the key-operated device can probe from a first detection position along a second direction until it detects a target sidewall region. Then, it offsets the current detection position within the target sidewall region by a second preset distance in the opposite direction along the second direction to obtain a second detection position. It can be understood that the second detection position is a second preset distance away from the current position in the second direction.

[0034] In some embodiments, the second preset distance can be adaptively set, but to ensure the effectiveness of the second detection position, the second preset distance needs to match the second distribution range of the reference segment in the second direction. The reference segment is located within the target sidewall region, parallel to the bottom surface region, and at a first preset distance from the bottom surface region in the first direction.

[0035] Step 106: Probe from the second detection position along the third direction or the opposite direction of the third direction to determine the deflection of the target sidewall region relative to the third direction; the third direction is perpendicular to the first direction and the second direction.

[0036] In some embodiments, the deflection may include at least one of a first deflection toward a third direction, a second deflection toward a third direction, or a deflection parallel to a third direction.

[0037] In some embodiments, the second direction points to the first side of the third direction, and the opposite direction of the second direction points to the second side of the third direction. If the target sidewall region deflects towards the second side of the third direction, then the target sidewall region can be detected from the second detection position along the third direction. If the target sidewall region deflects towards the first side of the third direction, then the target sidewall region can be detected from the second detection position along the opposite direction of the third direction. Specifically, the key machine can determine that the target sidewall region has deflected towards the second side of the third direction when it detects the target sidewall region from the second detection position along the third direction. When it detects the target sidewall region from the second detection position along the opposite direction of the third direction, it determines that the target sidewall region has deflected towards the first side of the third direction.

[0038] In some embodiments, if the target sidewall region is parallel to a third direction, then the target sidewall region cannot be detected from the second detection position along either the third direction or its reverse direction. The key-operated device can determine that the target sidewall region is parallel to the third direction when no target sidewall region is detected from the second detection position along either the third direction or its reverse direction.

[0039] In some embodiments, such as Figure 4 The diagram illustrates a method for detecting deflection relative to a third direction. The second direction points to the left of the third direction. The key-operated device can offset a first preset distance d1 from a reference position m1 along the first direction to obtain a first detection position m2. Upon detecting the target sidewall region from the first detection position m2 along the second direction, the current position m3 is obtained. From the current position m3, offsetting a second preset distance d2 in the opposite direction of the second direction, a second detection position m4 is obtained. Since the target sidewall region is deflected to the left of the third direction, detection along the third direction from the second detection position m4 can detect the target sidewall region. The key-operated device can determine that the target sidewall region is deflected to the right of the third direction when it detects the target sidewall region from the second detection position along the third direction.

[0040] In some embodiments, the deflection may include at least one of a deflection direction or a deflection angle. The deflection direction may include at least one of a first side deflection towards a third direction, a second side deflection towards a third direction, or a direction parallel to a third direction. It is understood that the larger the deflection angle, the smaller the distance required to detect the target sidewall region from the second detection position along the third direction or the reverse direction of the third direction. Therefore, the detection situation from the second detection position along the third direction or the reverse direction of the third direction can reflect the deflection direction and angle of the target sidewall region relative to the third direction.

[0041] In some embodiments, according to the lock manufacturer's settings, the target sidewall region of the tooth groove may involve at least two candidate deflection angles. The key machine can obtain the target detection distance between the current position and the second detection position when detecting the target sidewall region from the second detection position along a third direction or in the opposite direction. A target deflection angle matching the target detection distance is determined from the candidate deflection angles.

[0042] In some embodiments, the ratio between the second preset distance and the target detection distance can reflect the tangent of the target deflection angle. Therefore, the key machine can determine the target deflection angle based on the target detection distance and the second preset distance.

[0043] In some embodiments, the key machine can determine the target deflection angle from among the candidate deflection angles based on the ratio between the second preset distance and the target detection distance.

[0044] In some embodiments, as configured by the lock manufacturer, the target sidewall region of the tooth groove may, but is not limited to, involve only one fixed deflection angle. For example, the target sidewall region may deflect the target deflection angle only towards a first side in a third direction, towards a second side in a third direction, or parallel to a third direction. Since only one fixed deflection angle is involved, there is no need to consider learning the deflection angle; it is only necessary to learn the deflection direction of the target sidewall region relative to the third direction.

[0045] In the aforementioned key tooth profile learning method, to accurately learn the features of the target sidewall region, considering the difficulty of directly probing the target sidewall region while probing the bottom surface region is easier, a first detection position is obtained by offsetting a first preset distance along a first direction from a reference position within the bottom surface region of the tooth groove on the target key; the first direction represents the normal of the bottom surface region. Furthermore, when the target sidewall region of the tooth groove is detected from the first detection position along a second direction, a second detection position is obtained by offsetting a second preset distance in the opposite direction from the current position along the second direction; the second direction represents the orientation of the target sidewall region relative to the tooth groove. This allows for detection of the target sidewall region starting from a reference position within the bottom surface region, significantly reducing the detection difficulty. If the target sidewall region is parallel to a third direction perpendicular to both the first and second directions, then the target sidewall region cannot be detected from the second detection position along either the third direction or in the opposite direction. If the target sidewall region is not parallel to the third direction, then the target sidewall region can be detected from the second detection position along either the third direction or in the opposite direction. Therefore, the detection from the second detection position along the third direction or the reverse of the third direction can reflect the deflection of the target sidewall region relative to the third direction. By detecting from the second detection position along the third direction or the reverse of the third direction, the deflection of the target sidewall region relative to the third direction can be determined, thereby enabling the learning of the key tooth features used to limit the pose of the rotating projectile and improving the efficiency of tooth learning.

[0046] In some embodiments, the method further includes: when the target key is in a clamping pose, determining a first direction based on the axis of a first coordinate axis of a reference coordinate system, determining a second direction based on the axis of a second coordinate axis of a reference coordinate system, and determining a third direction based on the axis of a third coordinate axis of a reference coordinate system; wherein the clamping pose is used to characterize the pose of the target key when the first direction is parallel to the first coordinate axis and the second direction is parallel to the second coordinate axis.

[0047] For example, when the target key is in the clamping position, the key machine can determine the axial direction or reverse direction of the first coordinate axis as the first direction, the axial direction or reverse direction of the second coordinate axis as the second direction, and the axial direction or reverse direction of the third coordinate axis as the third direction.

[0048] For example, the first coordinate axis may be, but is not limited to, the Z-axis of the reference coordinate system, the second coordinate axis may be, but is not limited to, the Y-axis of the reference coordinate system, and the third coordinate axis may be, but is not limited to, the X-axis of the reference coordinate system. Then the key machine can determine the axial direction or reverse direction of the Z-axis as the first direction, the axial direction or reverse direction of the Y-axis as the second direction, and the axial direction or reverse direction of the X-axis as the third direction.

[0049] In some embodiments, the key-holding machine has a clamp for holding a target key. When the target key is clamped on the clamp and the clamp is mounted on the key-holding machine, the target key is in a clamping position that ensures that the second direction is parallel to the second coordinate axis and the first direction is parallel to the first coordinate axis.

[0050] In some embodiments, the key-operating device can control the detector to lift a first preset distance from a reference position along a first direction to a first detection position. From the first detection position, it moves along a second direction until it contacts the target key. From the current position in contact with the target key, it moves a second preset distance in the opposite direction of the second direction to a second detection position. From the second detection position, it detects the target key along a third direction or in the opposite direction of the third direction to determine the deflection of the target sidewall region relative to the third direction.

[0051] In this embodiment, when the target key is in a clamping pose, a first direction is determined based on the axis of the first coordinate axis of the reference coordinate system, a second direction is determined based on the axis of the second coordinate axis of the reference coordinate system, and a third direction is determined based on the axis of the third coordinate axis of the reference coordinate system. The clamping pose is used to characterize the pose of the target key when the first direction is parallel to the first coordinate axis and the second direction is parallel to the second coordinate axis. The clamping pose associates the first direction, the second direction, and the third direction, with the target key as a reference, with the axis of each coordinate axis of the reference coordinate system, thereby enabling key tooth profile learning in the reference coordinate system and ensuring accuracy.

[0052] In some embodiments, the method further includes: probing the tooth depth corresponding to each candidate tooth position of the tooth groove on the target key; and determining a reference position in the bottom area of ​​the tooth groove based on the probing maximum tooth depth and the candidate tooth position corresponding to the maximum tooth depth.

[0053] In some embodiments, each tooth groove corresponds to a preset tooth position range, and each preset tooth position range has at least two candidate tooth positions and each tooth groove has at least two candidate tooth depths. Therefore, learning the key tooth profile requires determining the tooth position of the tooth groove based on each candidate tooth position and determining the target tooth depth of the tooth groove based on each candidate tooth depth. Figure 3 As shown, each tooth groove corresponds to a preset tooth position range, and there are two candidate tooth positions within each preset tooth position range. There are six candidate tooth depths for each tooth groove.

[0054] The key-operated sensor can probe in the reverse direction along a first direction at candidate tooth positions, obtaining the tooth depth corresponding to the candidate tooth position when probing the bottom surface region. The maximum tooth depth is determined from the tooth depths corresponding to each probed candidate tooth position. The maximum tooth depth characterizes the position component of the probed reference position in the first direction. Based on the position component of the candidate tooth position corresponding to the maximum tooth depth in the second direction, the position component of the reference position in the second direction is determined. Based on the position component of the candidate tooth position corresponding to the maximum tooth depth in the third direction, the position component of the reference position in the third direction is determined. Based on the maximum tooth depth, the position component of the reference position in the first direction is determined. Further, the key-operated sensor can determine a target tooth depth parameter that matches the maximum tooth depth from each candidate tooth depth parameter. Based on the position parameter of the candidate tooth position corresponding to the maximum tooth depth, the target tooth position parameter corresponding to the tooth groove is determined.

[0055] In this embodiment, the tooth depth of the groove on the target key at each candidate tooth position is detected; then, based on the detected maximum tooth depth and the candidate tooth position corresponding to the maximum tooth depth, the reference position in the bottom area of ​​the groove can be determined, which eliminates the need for manual operation and improves convenience.

[0056] In some embodiments, obtaining a first detection position by offsetting a reference position from the bottom surface region of the tooth groove on the target key along a first direction by a first preset distance includes: obtaining a first detection position by offsetting a center position from the bottom surface region of the tooth groove on the target key along a first direction by a first preset distance.

[0057] For example, the key machine has detectors for detecting various positions. The key machine can control the detectors to deflect a first preset distance from a central position along a first direction to reach a first detection position. Figure 4 As shown, the detector's trajectory includes a path from the center position m1 to the first detection position m2. It can be understood that the first detection position is a first preset distance from the center position in a first direction.

[0058] In some embodiments, after obtaining the first detection position, the key machine can directly control the detector to reach the first detection position.

[0059] In some embodiments, the key-operated device has a contact-type detector. The detector may be, but is not limited to, a probe. The key-operated device can control the detector to move from a first detection position along a second direction until it contacts the target sidewall region, and then move a second preset distance in the opposite direction from the current position in contact with the target sidewall region to reach a second detection position. Figure 4 As shown, the detector's trajectory includes a path from the first detection position m2 to the current position m3, and then to the second detection position m4. It can be understood that the second detection position and the current position are separated by a second preset distance in the second direction.

[0060] In this embodiment, key tooth profile learning is mainly achieved by detecting the target sidewall region. Therefore, it is crucial that the detection position does not exceed the distribution range of the target sidewall region. The reference position includes the center position in the bottom area. The first detection position is obtained by offsetting the center position in the bottom area of ​​the tooth groove on the target key along the first direction by a first preset distance. This can avoid the first detection position from exceeding the above distribution range as much as possible, thus ensuring the accuracy of tooth profile learning.

[0061] In some embodiments, the second direction points to the first side of the third direction, and the opposite direction of the second direction points to the second side of the third direction; the target sidewall region is probed from the second detection position along the third direction or the opposite direction of the third direction to determine the deflection of the target sidewall region relative to the third direction, including at least one of the following processes: when the target sidewall region is detected from the second detection position along the third direction, it is determined that the target sidewall region is deflected towards the second side of the third direction; when the target sidewall region is detected from the second detection position along the opposite direction of the third direction, it is determined that the target sidewall region is deflected towards the first side of the third direction; when the target sidewall region is not detected from the second detection position along either the third direction or the opposite direction of the third direction, it is determined that the target sidewall region is parallel to the third direction.

[0062] For example, when the key-operated device detects the target sidewall region along a third direction from the second detection position, it uses the second deflection parameter as the target deflection parameter corresponding to the tooth groove. The second deflection parameter characterizes the second lateral deflection of the target sidewall region towards the third direction. When the target sidewall region is detected in the opposite direction from the second detection position along the third direction, the first deflection parameter is used as the target deflection parameter corresponding to the tooth groove. The first deflection parameter characterizes the first lateral deflection of the target sidewall region towards the third direction. When the target sidewall region is not detected from the second detection position along either the third direction or in the opposite direction, the third deflection parameter is used as the target deflection parameter corresponding to the tooth groove. The third deflection parameter characterizes the target sidewall region as being parallel to the third direction.

[0063] In some embodiments, learning the tooth profile of a target key may include learning the target tooth position parameters, target tooth depth parameters, and target deflection parameters corresponding to each tooth groove on the target key.

[0064] In this embodiment, when the target sidewall region is detected from the second detection position along a third direction, it is determined that the target sidewall region is deflected to the second side of the third direction; when the target sidewall region is detected from the second detection position along the reverse direction of the third direction, it is determined that the target sidewall region is deflected to the first side of the third direction; when the target sidewall region is not detected from the second detection position along either the third direction or the reverse direction of the third direction, it is determined that the target sidewall region is parallel to the third direction. This achieves automatic learning of the key tooth-shaped features on the key used to limit the pose of the rotating tumbler, greatly improving convenience.

[0065] In some embodiments, a first preset distance matches a first distribution range of the target sidewall region in a first direction; a second preset distance matches a second distribution range of the reference segment in a second direction; wherein the reference segment is located within the target sidewall region, parallel to the bottom region, and at a first preset distance from the bottom region in the first direction.

[0066] It is understandable that the first preset distance can be set adaptively, but it cannot be too large. It needs to ensure that the position component of the first detection position in the first direction does not exceed the first distribution range of the target sidewall region in the first direction, thus ensuring the effectiveness of the first detection position. Similarly, the second preset distance can be set adaptively, but it cannot be too large. It needs to ensure that the position component of the second detection position in the second direction is within the second distribution range of the reference segment in the second direction within the target sidewall region that has deflected relative to the third direction, thus ensuring the effectiveness of the second detection position. Figure 5 As shown, a schematic diagram of a second distribution range is provided. Figure 5 The position component of the second detection position m4 in the second direction does not exceed the second distribution range, and the target sidewall area can be detected by detecting from m4 along the first direction.

[0067] In some embodiments, the reference segment may include a first reference segment within a target sidewall region parallel to a third direction and a second reference segment within a target sidewall region deflected relative to a third direction. It is understood that, considering clamping errors, the second direction may not be completely consistent with the direction of the target sidewall region relative to the tooth groove. Therefore, to avoid mistakenly detecting a target sidewall region parallel to a third direction as deflected relative to a third direction, the second preset distance cannot be too small; it needs to ensure that the position component of the second detection position in the second direction exceeds the distribution range of the first reference segment in the second direction. Furthermore, to ensure that a target sidewall region deflected relative to a third direction can be detected, the second preset distance cannot be too large; it needs to ensure that the position component of the second detection position in the second direction is within the distribution range of the second reference segment in the second direction.

[0068] In this embodiment, the first preset distance matches the first distribution range of the target sidewall region in the first direction; the second preset distance matches the second distribution range of the reference segment in the second direction; wherein the reference segment is located within the target sidewall region, parallel to the bottom region, and at a first preset distance from the bottom region in the first direction, which can ensure the effectiveness of the first detection position and the second detection position.

[0069] In some embodiments, the key machine can perform tooth profile learning on the target key in the clamping position to obtain the target tooth position parameters, target tooth depth parameters and target deflection parameters corresponding to the tooth grooves on the target key.

[0070] Specifically, when the target key is clamped on the key-operating device, it is in a clamping pose, with a first direction parallel to the first coordinate axis of the reference coordinate system, a second direction parallel to the second coordinate axis of the reference coordinate system, and a third direction parallel to the third coordinate axis of the reference coordinate system. The key-operating device can determine the first direction based on the axis of the first coordinate axis, the second direction based on the axis of the second coordinate axis, and the third direction based on the axis of the third coordinate axis, all while the target key is in the clamping pose.

[0071] The key-operated device controls the detector to probe the tooth depth corresponding to each candidate tooth position in the tooth groove. It determines the maximum tooth depth from the probed tooth depths at each candidate tooth position. It then determines the target tooth depth parameter that matches the maximum tooth depth from the candidate tooth depth parameters. Based on the position parameters of the candidate tooth positions corresponding to the maximum tooth depth, it determines the target tooth position parameter corresponding to the tooth groove. Finally, it determines the center position within the bottom surface area based on the maximum tooth depth and the candidate tooth positions corresponding to it. It can be understood that tooth position and tooth depth represent different dimensions of tooth profile information within the tooth groove. Tooth position reflects the center position within the bottom surface area in the second and third directions, while tooth depth reflects the center position within the bottom surface area in the first direction.

[0072] The key mechanism can control the detector to deviate from its central position along a first direction by a first preset distance to reach a first detection position. It then controls the detector to move from the first detection position along a second direction until it contacts the target sidewall region, and then moves in the opposite direction along the second direction by a second preset distance from its current position in contact with the target sidewall region to reach a second detection position.

[0073] The second direction points to the first side of the third direction, and the reverse direction of the second direction points to the second side of the third direction. The key mechanism can control the detector to use the second deflection parameter as the target deflection parameter corresponding to the tooth groove when it detects the target sidewall region along the third direction from the second detection position. When the target sidewall region is not detected along the third direction from the second detection position, it probes along the reverse direction of the third direction. When the target sidewall region is detected along the reverse direction of the third direction, the first deflection parameter is used as the target deflection parameter corresponding to the tooth groove. When the target sidewall region is not detected along both the third direction and the reverse direction from the second detection position, the third deflection parameter is used as the target deflection parameter corresponding to the tooth groove.

[0074] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0075] Based on the same inventive concept, this application also provides a key tooth profile learning device for implementing the key tooth profile learning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more key tooth profile learning device embodiments provided below can be found in the limitations of the key tooth profile learning method described above, and will not be repeated here.

[0076] In one exemplary embodiment, such as Figure 6 As shown, a key-tooth learning device 600 is provided, including: a detection module 602 and a learning module 604, wherein: The detection module 602 is used to offset a reference position from the bottom surface area of ​​the tooth groove on the target key along a first direction by a first preset distance to obtain a first detection position; the first direction is used to characterize the normal of the bottom surface area; when the target sidewall area of ​​the tooth groove is detected from the first detection position along a second direction, the second detection position is obtained by offsetting the current position along the second direction by a second preset distance in the opposite direction; the second direction is used to characterize the direction of the target sidewall area relative to the tooth groove.

[0077] The learning module 604 is used to detect from the second detection position along a third direction or the reverse of the third direction to determine the deflection of the target sidewall region relative to the third direction; the third direction is perpendicular to the first direction and the second direction.

[0078] In some embodiments, the detection module 602 is further configured to determine a first direction based on the axis of a first coordinate axis of a reference coordinate system, determine a second direction based on the axis of a second coordinate axis of a reference coordinate system, and determine a third direction based on the axis of a third coordinate axis of a reference coordinate system when the target key is in a clamping pose; wherein, the clamping pose is used to characterize the pose of the target key when the first direction is parallel to the first coordinate axis and the second direction is parallel to the second coordinate axis.

[0079] In some embodiments, the detection module 602 is further configured to detect the tooth depth corresponding to each candidate tooth position of the tooth groove on the target key; and determine the reference position in the bottom area of ​​the tooth groove based on the detected maximum tooth depth and the candidate tooth position corresponding to the maximum tooth depth.

[0080] In some embodiments, the detection module 602 is further configured to offset a first preset distance from the center position of the bottom surface area of ​​the tooth groove on the target key along a first direction to obtain a first detection position.

[0081] In some embodiments, the second direction points to the first side of the third direction, and the opposite direction of the second direction points to the second side of the third direction; the learning module 604 is further configured to determine that when the target sidewall region is detected from the second detection position along the third direction, the target sidewall region is deflected toward the second side of the third direction; when the target sidewall region is detected from the second detection position along the opposite direction of the third direction, the target sidewall region is deflected toward the first side of the third direction; and when the target sidewall region is not detected from the second detection position along both the third direction and the opposite direction of the third direction, the target sidewall region is parallel to the third direction.

[0082] Each module in the aforementioned key tooth learning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the key-operated machine in hardware form or independent of it, or stored in the memory of the key-operated machine in software form, so that the processor can call and execute the corresponding operations of each module.

[0083] In one exemplary embodiment, a key machine is provided, the internal structure of which can be shown in the following diagram. Figure 7As shown, the key-operated device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a key tooth learning method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the key machine can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the key machine casing, or external keyboards, touchpads, or mice, etc.

[0084] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the key machine to which the present application is applied. A specific key machine may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0085] In one embodiment, a key machine is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0086] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0087] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0088] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0089] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A key tooth profile learning method, characterized in that, The method includes: A first detection position is obtained by offsetting a first preset distance along a first direction from a reference position in the bottom area of ​​the tooth groove on the target key; the first direction is used to characterize the normal of the bottom area. When the target sidewall region of the tooth groove is detected from the first detection position along the second direction, the second detection position is obtained by offsetting the current position by a second preset distance in the opposite direction of the second direction; the second direction is used to characterize the orientation of the target sidewall region relative to the tooth groove. The detection is performed from the second detection position along a third direction or the opposite direction of the third direction to determine the deflection of the target sidewall region relative to the third direction; the third direction is perpendicular to the first direction and the second direction.

2. The method according to claim 1, characterized in that, The method further includes: When the target key is in the clamping position, the first direction is determined based on the axis of the first coordinate axis of the reference coordinate system, the second direction is determined based on the axis of the second coordinate axis of the reference coordinate system, and the third direction is determined based on the axis of the third coordinate axis of the reference coordinate system. The clamping pose is used to characterize the pose of the target key when the first direction is parallel to the first coordinate axis and the second direction is parallel to the second coordinate axis.

3. The method according to claim 1, characterized in that, The method further includes: The tooth depth corresponding to each candidate tooth position of the groove on the target key is detected; Based on the detected maximum tooth depth and the candidate tooth position corresponding to the maximum tooth depth, a reference position is determined in the bottom area of ​​the tooth groove.

4. The method according to claim 1, characterized in that, The method of offsetting a reference position from the bottom area of ​​the tooth groove on the target key along a first direction by a first preset distance to obtain the first detection position includes: The first detection position is obtained by offsetting the center position of the bottom area of ​​the tooth groove on the target key along the first direction by a first preset distance.

5. The method according to claim 1, characterized in that, The second direction points to the first side of the third direction, and the opposite direction of the second direction points to the second side of the third direction; The step of probing from the second detection position along a third direction or the opposite direction of the third direction to determine the deflection of the target sidewall region relative to the third direction includes at least one of the following processes: When the target sidewall region is detected from the second detection position along the third direction, it is determined that the target sidewall region is deflected toward the second side in the third direction; When the target sidewall region is detected from the second detection position in the opposite direction of the third direction, it is determined that the target sidewall region is deflected toward the first side of the third direction; If the target sidewall region is not detected from the second detection position along both the third direction and the reverse direction of the third direction, it is determined that the target sidewall region is parallel to the third direction.

6. The method according to any one of claims 1 to 5, characterized in that, The first preset distance matches the first distribution range of the target sidewall region in the first direction; The second preset distance matches the second distribution range of the reference segment in the second direction; wherein the reference segment is located within the target sidewall region, parallel to the bottom region, and at a distance of the first preset distance from the bottom region in the first direction.

7. A key-shaped learning device, characterized in that, The device includes: The detection module is used to offset a reference position from the bottom surface area of ​​the tooth groove on the target key along a first direction by a first preset distance to obtain a first detection position; the first direction is used to characterize the normal of the bottom surface area; when the target sidewall area of ​​the tooth groove is detected from the first detection position along a second direction, the module offsets the current position along the second direction by a second preset distance to obtain a second detection position; the second direction is used to characterize the orientation of the target sidewall area relative to the tooth groove. The learning module is used to probe from the second detection position along a third direction or the reverse of the third direction to determine the deflection of the target sidewall region relative to the third direction; the third direction is perpendicular to the first direction and the second direction.

8. A key-operating machine, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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